Mitsubishi Electric MELSERVO-J4 MR-J4-TM Instruction Manual page 34

5. STATE TRANSITION
Transition
No.
(0) The control circuit power supply is turned on.
(1) The state automatically transitions when the control circuit power
supply is turned on.
(2) The state transitions with the Shutdown command from the master.
(3) The state transitions with the Switch on command from the master.
(4) The state transitions with the Enable operation command from the
master.
(5) The state transitions with the Disable operation command from the
master.
(6) The state transitions with the Shutdown command from the master.
(7) The state transitions with the Disable Voltage command or Quick
Stop command from the master.
(8)
(a) The state transitions with the Shutdown command from the
master.
(b) The state transitions when the main circuit power supply is
turned off.
(9)
The state transitions with the Disable Voltage command from the
master.
(10)
The state transitions with the Disable Voltage command or Quick
Stop command from the master.
(11)
The state transitions with the Quick Stop command from the master.
(12)
(a) The state automatically transitions after Quick Stop is completed.
(If the Quick Stop option code is 1, 2, 3, or 4)
(b) The state transitions with the Disable Voltage command from the
master.
(13)
Alarm occurrence
(14)
Automatic transition
(15) The state transitions with the Fault Reset command from the master. Alarms are reset. Resettable alarms are cleared.
(16)
The state transitions with the Enable Operation command from the
master. (If the Quick Stop option code is 5, 6, 7, or 8)
Correspondence relation between command bit setting and FSA state transition
Shutdown
Switch On
Disable Voltage
Quick Stop
Disable Operation
Enable Operation
Fault Reset
Note. 0: OFF 1: ON
10 ms ≥ twice the communication cycle: Hold the state for 10 ms.
10 ms < twice the communication cycle: Hold the state for the time determined by doubling the
Table 5.2 State transition
Event
Command bit setting of Controlword (Note)
Bit 7
Command
Fault
Reset
0
0
0
0
0
0
0 to 1
: ON/OFF
In faulty communication, hold the state of Bit 7 = 1 for as follows for the Fault Reset command to prevent
the command from failing to be recognized.
communication cycle.
Initialization
Communication setting
None
RA turns on.
The operation becomes ready after servo-on.
The operation is disabled after servo-off.
RA turns off.
None
Operation is disabled after servo-off or RA-off.
Operation is disabled after servo-off or RA-off.
RA turns off.
Quick Stop starts.
Operation is disabled after servo-off or RA-off.
Processing against the alarm is executed.
After processing against the alarm has been
completed, servo-off or RA-off is performed and the
operation is disabled.
The operation becomes ready. (Not supported)
Bit 3 Bit 2 Bit 1
Enable Quick Enable
Operation Stop Voltage
1
0 1
0
0 1
1 1
5 - 5
Remark
Bit 0 Transition No.
Switch On
1 0 (2), (6), (8)
1 1 (3)
0 (7), (9), (10), (12)
1 (7), (10), (11)
1 1 (5)
1 1 (4), (16)
(15)