State Transition; Basic State Machine - Mitsubishi Electric MELSERVO-J4 MR-J4-TM Instruction Manual

5. STATE TRANSITION

5. STATE TRANSITION

5.1 Basic State Machine

The internal state of Standard teregram1 of the MR-J4-_TM_ is controlled as follows. Figure 5.1 and Table
5.1 show the transition conditions between each state. The states are switched when the master sends a
command following the table 5.1 (sets Control word 1) after the Process Data communication was
established. When the state has transitioned from Switch on inhibited, which is right after the power on, to
Operation with the predetermined procedure, the servo motor becomes ready to operate.
(14)
Servo motor
stop
Quick stop
(12)
Quick stop
Ramp stop
Switching off
Transition by slave
Transition by master
Transition by slave or master
Power on
Switch on inhibited
(15)
(1)
Coast
Off
stop
Ready for
switching on
(2)
(11)
On
Disable
Operation
Switched on
or servo
motor stop
(3)
Enable
Operation
Operation
(9)
(13)
Off
On
Figure 5.1 Transition between the basic states
(0)
(18)
Fault reset
(6)
Coast stop
or Quick stop
(7)
Coast stop or
Quick stop
(5)
Off
(4)
Disable
Operation
(10)
Quick stop
5 - 1
Power off
(A): Ready-off, Servo-off
Fault
(17)
Automatic transition
(B): Ready-on, Servo-off
(8)
Coast stop
Fault reaction
active
(C): Ready-on, Servo-on
(16)
Error occurs