Device Control - YASKAWA SGD7S-1R9D Product Manual

14.6

Device Control

Error Code (603F Hex)
This object provides the SERVOPACK alarm/warning code of the last error that occurred.
Subin-
Index
dex
603F hex 0
Controlword (6040 Hex)
This object controls the device and operation mode.
Subin-
Index
dex
6040 hex 0
 Controlword Bits
Bit
0
1
2
3
4 to 6
7
8
9
10
11
12
13 to 15
 Details on Bits 0 to 3
• Bits 0 to 3: These bits function as the control command for the Servo Drive's state.
Command
Shutdown
Switch on
Switch on + Enable operation
Disable voltage
Quick stop
Disable operation
Enable operation
Name
Error code
Name
Controlword
Function
Switch on
Enable voltage
Quick stop
Enable operation
Operation mode specific
Fault reset
Halt
Operation mode specific
− (Reserved)
Positive torque limit
Negative torque limit
− (Reserved)
Bit 7
0
0
0
0
0
0
0
Data PDO
Access
Type Mapping
UINT RO Yes
Data PDO
Access
Type Mapping
UINT RW Yes
Description

Refer to Details on Bits 0 to 3.

Refer to Details on Bits 4 to 9.
0 → 1: Alarm/warning reset.

Refer to Details on Bits 4 to 9.
−
0: Disables torque limit parameter (object 2404 hex).
1: Enables torque limit parameter (object 2404 hex).
0: Disables torque limit parameter (object 2405 hex).
1: Enables torque limit parameter (object 2405 hex).
−
Controlword Bits
Bit 3 Bit 2
X 1
0 1
1 1
X X
X 0
0 1
1 1

14.6 Device Control

Saving to
Value
EEPROM
0 No
Saving to
Value
EEPROM
0 to 0xFFFF
No
(default: 0)
Bit 1 Bit 0
1 0
1 1
1 1
0 X
1 X
1 1
1 1
14
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