Cia402 Drive Profile; A-1-1 Controlling The State Machine Of The Servo Drive - Omron R88M-K User Manual

Appendices
A-1

CiA402 Drive Profile

This section describes the profile that is used to control the Servo Drive.
A-1-1 Controlling the State Machine of the Servo Drive
The state of G5-series Servo Drives with built-in EtherCAT communications is called "PDS state." The
PDS state is controlled by the Controlword (6040 hex).
State Machine
The state of an G5-series Servo Drive changes as shown below.
Each box indicates a state, while numbers 2 to 10 and 15 indicate the state control commands.
For details on the states, refer to State Descriptions on page A-3 and Command Coding on page A-3.
Shutdown: 2
Switch on: 3
Disable Voltage: 10
Enable operation: 4
Note 1 Quick stop active state is not supported. Even if a Quick stop command is received, it will be ignored.
A-2
Power turned OFF or Reset
Start
0: After the control power is turned ON
Not ready to switch on
1: After initialization is completed
15: Fault reset
Switch on
disabled
7: Disable Voltage
Ready to
switch on
6: Shutdown
Switched on
5: Disable
operation
Operation enabled 8: Shut down
9: Disable Voltage
G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Control
circuit
power
supply
Fault
ON
14: Error
response
operation
completed ON
Fault reaction
active
ON
13: Error occurs
Main
Servo
circuit
ON/OFF
power
supply
ON
or OFF
OFF
ON OFF
ON ON