A-1 Cia402 Drive Profile - Omron R88D-KN01L-ECT-L 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).
The Status word (6041 hex) is displayed in each PDS state.
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 Description on page A-3. For details on command coding, refer
to Command Coding on page A-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
Shutdown: 2
7: Disable Voltage
Ready to
switch on
Switch on: 3
6: Shutdown
Switched on
5: Disable
operation
Operation
8: Shut down
enabled
9: Disable Voltage
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
Control
circuit
power
supply
Fault
ON
14: Error
response
operation
ON
completed
Fault reaction
active
ON
13: Error occurs
Main
Servo
circuit
power
ON/OFF
supply
ON or
OFF
OFF
ON OFF
ON ON