Device Control - YASKAWA SGD7S-xxxDA0 series Product Manual

14.1

Device Control

You use the controlword (6040h) to execute device control for the Servo Drive according to the
following state transitions. You can use the statusword (6041h) to monitor the device status of
the Servo Drive.
Disable Voltage
(or main power
supply turned OFF)
(or HWBB signal input)
*1
(or Quick Stop)
(or HWBB signal input)
(or jogging operation)
Quick Stop Active
(STW: xxxx xxxx x00x 0111)
*1.
In the Quick Stop Active state, the SERVOPACK automatically moves to the Switch ON Disabled state in the fol-
lowing cases:
• The main power supply was turned OFF.
• The HWBB signal was input.
• The motor was stopped.
*2.
In the Switched ON state, the SERVOPACK automatically moves to the Switch ON Disabled state in the follow-
ing cases:
• The main power supply was turned OFF.
• The HWBB signal was input.
• Motor operation was already enabled by the Digital Operator or the SigmaWin+.
*3.
In the Ready to Switch ON state, the SERVOPACK moves to the next state in the following cases:
• The main circuit power supply is ON.
• The EtherCAT state machine (ESM) is in the Operational state.
• The Servomotor is not being operated by the Digital Operator or the SigmaWin+.
*4.
In the Operation Enabled state, the SERVOPACK automatically moves to the Switch ON Disabled state in the
following cases:
• The main power supply was turned OFF.
• The HWBB signal was input.
Note: 1. : The states are shown in white boxes.
2. STW indicates the statusword (6041h).
3. ___________: Underlines indicate control commands in the controlword (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
Disable Voltage
or Quick Stop
Ready to Switch ON
(or main power
(STW: xxxx xxxx x01x 0001)
supply turned OFF)
*2
Shutdown
Switch ON
(and main circuit power supply ON)
(and EtherCAT Operational state)
Switched ON
(STW: xxxx xx1x x011 0011)
Enable Operation
Disable Operation
Operation Enabled
(STW: xxxx xx1x x011 0111)
Quick Stop
Fault Reset
(STW: xxxx xxxx x0xx 1000)
Disable Voltage
(or main power
supply turned OFF)
*4
(or HWBB signal input)
*3
Shutdown
Fault Reaction Active
(STW: xxxx xxxx x0xx 1111)
Drive error
(EtherCAT down error)

14.1 Device Control

(A): The control power
supply is ON, but the
main circuit power
supply is OFF and
power is not supplied
to the motor. (The
servo is OFF.)
Fault
(B): The control power
supply is ON and the
main circuit power
supply is ON, but
power is not supplied
to the motor. (The
servo is OFF.)
(C): The control power
supply is ON, the
main circuit power
supply is ON, and
power is supplied to
the motor. (The servo
is ON.)
14
14-3