YASKAWA UAK series User Manual page 163

8 Operation
(1) State Machine Controlling Command
Shutdown
Switch on
Switch on
+ Enable operation
Disable voltage
Quick stop
Disable operation
Enable operation
Fault reset
(2) Bits of Statusword (6041h)
Bit No
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
(3) Related Objects
Index
6040h
6041h
605Ah
605Bh
605Ch
605Dh
605Eh
8-6
Command
Bit7
0
0
0
0
0
0
0
0 → 1
Data Description
Ready to switch on
Switched on
Operation enabled
Fault
Voltage enabled
Quick stop
Switch on disabled
Warning
Reserved
Remote
Target reached
Internal limit active
Operation mode specific
Torque limit active
HWBB active
Sub Name
– Controlword
– Statusword
– Quick Stop Option Code
– Shutdown Option Code
– Disable Operation Option Code
– Halt Option Code
– Fault Reaction Option Code
Bits of the Controlword (6040h)
Bit3 Bit2 Bit1
– 1 1
0 1 1
1 1 1
– – 0
– 0 1
0 1 1
1 1 1
– – –
Σ
For details, refer to -V-SD series User's Manual For Command Profile
EtherCAT (CoE) Communications Reference (manual no.: SIEP S800000
95)
Access
RW
RO
RW
RW
RW
RW
RW
Bit0
0
1
1
–
–
1
1
–
Note
PDO
Units
Mapping
Yes – UINT
Yes – UINT
No – INT
No – INT
No – INT
No – INT
No – INT
Type