Fsa State - Mitsubishi Electric MELSERVO-J4 MR-J4-TM Instruction Manual

5. STATE TRANSITION

5.2 FSA state

Telegram 100 or more internal status of the MR-J4-_TM_ servo amplifier are controlled with STA state.
Figure 5.2 and Table 5.2 show the transition conditions between the FSA states. The states are switched
when the master sends a command following table 5.2 (sets Controlword) after the I/O communication was
established. When the state has transitioned from Not ready to switch on, which is right after the power on,
to Operation enabled with the predetermined procedure, the servo motor becomes ready to operate.
When the communication state is "IDLE", the state will always be Switch on disabled.
Power on
(0)
Not ready to
switch on
(1)
Switch on
disabled
(2)
(12) (10)
Ready to
switch on
(3)
Switched on
(4)
(16)
Quick stop Operation
active enabled
(11)
Transition by slave
Transition by master
Transition by slave or master
Figure 5.2 Transition between the FSA states
5 - 4
Power off
(15)
Fault
(7)
(6)
(8) (9)
(5)
Fault reaction
active
(13)
Error occurs
(A): Ready-off, Servo-off
(14)
(B): Ready-on, Servo-off
(C): Ready-on, Servo-on