Mitsubishi Electric MELSERVO MR-JET-G-N1 User Manual page 26

Transition No. Event
*2
(12) (A) Transitions automatically after the completion of Quick Stop (when the value
of [Quick stop option code (Obj. 605Ah)] is any of "1", "2", "3", or "4")
(B) Transitions with the "Disable Voltage" command from the master station after
completion of "Quick Stop"
(C) Transitions when the power supply is turned off (when the value of [Quick
stop option code (Obj. 605Ah)] is any of "5", "6", "7", or "8")
(13) Alarm occurrence
(14) Automatic transition
(15) Transitions with the "Fault Reset" command from the master station
*3
(16) Transitions with the "Enable Operation" command from the master station
(when the value of [Quick stop option code (Obj. 605Ah)] is any of "5", "6", "7", or
"8")
*1 This event occurs when "1" (Quick stop active) is selected in [Pr. PF29.1 State selection with forced stop in progress].
*2 (C) is available on servo amplifiers with firmware version D0 or later.
*3 Available on servo amplifiers with firmware version D0 or later.
The commands issued to the servo amplifier are shown in the table below. Turn on the Bits relative to the command.
0: Off 1: On : Either on/off can be used
Command
Shutdown
Switch On
Disable Voltage
Quick Stop
Disable Operation
Enable Operation
Fault Reset
*1 In order to avoid missing the command at the time of a communication error, maintain the state of Bit 7 = 1 on the Fault Reset command
for at least 10 ms when the communication cycle is 4 ms or less, or at least 20 ms when the communication cycle is 8 ms or less.
IIn order to transition from the "Switch on disabled" state to the "Operation enabled" state, give the commands "Shutdown",
"Switch On", and "Enable Operation" sequentially. If using an MR-JET servo amplifier, however, it is possible to transition
directly from the current state to the target state with one command.
Current state
Switch on disabled
Switch on disabled
Ready to switch on
7 CiA 402 DRIVE PROFILE
24
7.1 PDS state transitions
Command Bit setting of Controlword
Bit 7 Bit 3
Fault Reset Enable
Operation
0

0 0
0

0

0 0
0 1
*1
0 → 1

Command
Switch On
Enable Operation
Enable Operation
Bit 2 Bit 1
Quick Stop Enable
Voltage
1 1
1 1
0

0 1
1 1
1 1
 
Description
The operation is disabled after servo-off and
dynamic braking.
The processing for the alarm occurrence is
executed.
After the completion of the alarm occurrence
processing, the operation is disabled by servo-off or
the dynamic brake.
An alarm reset is performed.
Resettable alarms are reset.
The operation becomes ready.
Transition No.
Bit 0
Switch On
0 (2), (6), (8)
1 (3)
(7), (9), (10), (12)

(7), (10), (11)

1 (5)
1 (4), (16)
(15)

State after transition
Switched on
Operation enabled
Operation enabled