A-1-2 Modes Of Operation - Omron R88D-KN01L-ECT-L User Manual

Appendices
State Coding
State is indicated by the combination of bits in Statusword (6041 hex), as shown in the following table.
Conditions
Not ready to
switch on
Switch on
disabled
Ready to switch
on
Switched on
Operation
enabled
Fault reaction
active
Fault
A-1-2 Modes of Operation
G5-series Servo Drives with built-in EtherCAT communications support the following Modes of
operation.
csp: Cyclic synchronous position mode
csv: Cyclic synchronous velocity mode
cst: Cyclic synchronous torque mode
pp: Profile position mode
hm: Homing mode
The operation mode is set in Modes of operation (6060 hex). It is also given in Modes of operation
display (6061 hex).
The operation modes supported by the Servo Drive can be checked in Supported drive modes
(6502 hex).
If an unsupported operation mode is specified, a Function Setting Error (Error 93.4) will occur.
A - 4
Bit 6 Bit 5
Switch on
Quick stop
disabled
0 0 Disabled
1 1 Disabled
0 1 Disabled
0 1 Disabled
0 1 Disabled
0 1 Disabled
0 1 Disabled
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
Bit 4 Bit 3
Voltage Operation
Fault
enabled enabled
0
0
0
0
0
1
1
Bit 2 Bit 1 Bit 0
Switched Ready to
on switch on
0 0
0 0
0 0
0 1
1 1
1 1
0 0
0
0
1
1
1
1
0