Mitsubishi Electric MELSERVO-J4 Instruction Manual page 38

5. CiA 402 DRIVE PROFILE
Transition No.
(14) Automatic transition
The state transitions with the Fault Reset command from
(15)
the master.
(16) The state transitions with the Enable Operation
command from the master.
(Not supported)
(If the Quick Stop option code is 5, 6, 7, or 8)
(Note)
Note. This is not supported by the MR-J4-_TM_ servo amplifier.
The following table lists the commands issued to the servo amplifier. Turn on the bits according to the
command.
Command
Bit 7
Fault Reset
Shutdown
Switch On
Disable Voltage 0
Quick Stop
Disable Operation
Enable Operation
Fault Reset 0 → 1 (Note)
Note. In faulty communication, hold the state of Bit 7 = 1 for at least 10 ms for the Fault Reset command to prevent the command
from failing to be recognized.
Figure 5.1 and Table 5.1 show the FSA state transition conditions of the EtherCAT standard. The transition
from the Switch on disabled state to the Operation enabled state requires Shutdown, Switch on, and Enable
operation to be issued in this order. However, with the MR-J4-_TM_ servo amplifier, transition to the target
state skipping the states in between is possible.
(B) Switch on disabled
(B) Switch on disabled
(C) Ready to switch on
Event
Command bit setting of Controlword
Bit 3
Enable
Operation
0
0 0
0
0 0
0 1
Current state
After processing against the alarm has been completed,
servo-off or RA-off is performed and the operation is
disabled.
Alarms are reset.
Alarms that can be reset are reset.
The operation becomes ready.
Bit 2 Bit 1
Quick Stop Enable Voltage
1 1
1 1
0
0 1
1 1
1 1
Command
Switch on
Enable operation
Enable operation
5 - 3
Remark
Transition No.
Bit 0
Switch On
0 (2), (6), (8)
1 (3)
(7), (9), (10), (12)
(7), (10), (11)
1 (5)
1 (4), (16)
(15)
State after transition
(D) Switched on
(E) Operation enabled
(E) Operation enabled