Device Control - YASKAWA UAK series User Manual

8.3

Device Control

The device control for the servo drive is carried out in the order shown in the following flowchart. Control-
word (Object 6040h) controls the operating status of the servo drive, and Statusword (Object 6041h) is used to
monitor this status.
Disable voltage,
(or main power off)
(or HWBB signal input)
(or Quick stopped)* 1
Disable voltage,
or Quick stop
(or main power off)
(or HWBB signal input)
(or SERVO JOG operation)*
(and main-circuit power on)
Quick stop active
(STW: xxxx xxxx x00x 0111)
Quick stop
∗1. In Quick stop Active state, the SERVOPACK automatically transits to the Switch on Disabled state at the following
cases:
-The main power supply was turned off.
-HWBB signal was inputted.
-The motor was stopped.
∗2. In Switched on state, the SERVOPACK automatically transits to the Switch on Disabled state at the following cases:
-The main power supply was turned off.
-HWBB signal was inputted.
-Motor operation was already enabled by the engineering tool (SigmaWin for Σ-V-SD (MT)).
∗3. In Ready to Switch on state, the SERVOPACK transits to the next state in the following cases:
-The main power supply was turned on.
-EtherCAT State Machine (ESM) is in Operational state.
-The servomotor is not run by SigmaWin for Σ-V-SD (MT).
∗4. In Operation Enabled state, the SERVOPACK automatically transits to the Switch on Disabled state at the following
cases:
-The main power supply was turned off.
-HWBB signal was inputted.
Note 1. shows state.
2. STW means the Statusword of Object 6041h.
3. ______ (underline) means the control command of Controlword (Object 6040h).
Power ON
Not ready to Switch on
(STW: xxxx xxxx x0xx 0000)
Switch on Disabled
(STW: xxxx xxxx x1xx 0000)
Disable voltage,
Shutdown
or Quick stop
Ready to Switch on
(STW: xxxx xxxx x01x 0001)
Shutdown
2
Switch on
(and ECAT OP state)* 3
Switched on
(STW: xxxx xx1x x 011 0011)
Enable operation
Disable operation
Operation enabled
(STW: xxxx xx1x x 011 0111)
Fault reset
Fault
(STW: xxxx xxxx x0xx 1000)
Disable voltage,
(or main power off)
(or HWBB signal input)* 4
Shutdown
Fault reaction active
(STW: xxxx xxxx x0xx 1111)
Drive Error
(e.g., ECAT state down error)

8.3 Device Control

(A): Control power is on.
Power is not supplied to the
motor. (Servo off state.)
(B): Main-circuit power is on.
Power is not supplied to the
motor. (Servo off state.)
(C): Power is supplied to the
motor. (Servo on state.)
8-5
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