State Machine Control Of The Servo Amplifier; Function Description - Mitsubishi Electric MELSERVO-JE Instruction Manual

5. CiA 402 DRIVE PROFILE

5.1 State machine control of the servo amplifier

5.1.1 Function description

The servo amplifier status is managed based on the state machine below. Setting the Controlword (6040h)
from the master station (controller) changes the status of the slave stations (servo amplifiers). The current
servo amplifier status can be read with the Statusword (6041h).
Servo initialization
in process
In wait for forced stop
reset
In wait for main
circuit charging
(ready-off)
(12)
Drive standby
(servo-off)
Forced stop
deceleration
(F) Quick stop active
Transition by slave
Transition by master
Transition by slave or master
Power on
(0)
(A) Not ready to switch on
(1)
(B) Switch on disabled
(2)
(10)
(C) Ready to switch on
(3)
(D) Switched on
(4)
(16)
(E) Operation enabled
(11)
In normal drive
(servo-on)
(15)
(H) Fault
(7)
(6)
(8) (9)
(5)
(G) Fault reaction active
(13)
Error occurs
5 - 2
Ready-off/Servo-off
(During main circuit
charging)
Occurrence of
alarm
(14)
Ready-off/Servo-off
(Main circuit charging
completed)
Ready-on/Servo-on
Alarm handling in process
(forced stop deceleration, alarm
history writing, and alarm display
change)