A-1-2 Modes Of Operation - Omron M1 Series User Manual

Command
Disable oper-
ation
Enable opera-
tion
Quick stop
Disable volt-
age
(During quick
stop active)
Fault reset
*1. The state automatically changes to Operation enabled state after Switched on state.
*2. Bit 7: Operation when the Fault Reset bit turns ON
Fault state
State other than Fault state : The state will change according to command bits 0 to 3.
After you execute a Fault reset by bit 7, return it to "0" before issuing the next command.
State Coding
State is indicated by the combination of bits in Statusword (6041 hex), as shown in the following ta-
ble.
Status
Not ready to switch on
Switch on disabled
Ready to switch on
Switched on
Operation enabled
Quick stop active
Fault reaction active
Fault
*1. sod = switch on disabled
*2. qs = quick stop
*3. ve = voltage enabled
*4. f = fault
*5. oe = operation enabled
*6. so = switched on
*7. rtso = ready to switch on
A-1-2
Modes of Operation
The inverter supports the following operation mode.
vl: Velocity mode
To set the operation mode, use Modes of operation (6060 hex). The operation mode is displayed in
Modes of operation display (6061 hex).
M1 Series EtherCAT Type User's Manual (I670)
Bit 7 Bit 3
fr eo
Disabled 0
Disabled 1
Disabled 1
Disabled 0
Disabled
*2
0 → 1
: Errors are reset and the inverter returns to the Switch on disabled state.
Bit 6
*1
sod
0
1 Disabled
0
0
0
0
0 Disabled
0 Disabled
Controlword bit
Bit 2 Bit 1
qs ev
1 1
1 1
0 1
Disabled 0
Disabled Disabled
Bit 5 Bit 4 Bit 3
*2 *3 *4
qs ve f
0 0 0
Disabled 0
1 Disabled 0
1 Disabled 0
1 Disabled 0
0 Disabled 0
Disabled 1
Disabled 1
Appendices
Move to
Bit 0
so
1 5
1 4
1 11
0 12
Disabled 15
Bit 2 Bit 1 Bit 0
*5 *6 *7
oe so rtso
0 0 0
0 0 0
0 0 1
0 1 1
1 1 1
1 1 1
1 1 1
0 0 0
A-5
A