Related Objects/Registers - Mitsubishi Electric MELSERVO-JE Instruction Manual

5. CiA 402 DRIVE PROFILE

5.1.2 Related objects/registers

Index Sub Index Access
6040h 0
6041h 0
(1) Controlword (6040h)
This object/register issues a command from the master station (controller) to the slave stations (servo
amplifiers).
Index Sub Index Access
6040h 0
The current control command status can be checked.
In addition, control commands can be written.
The following table lists the bits of this object/register. The slave can be controlled with bit 0 to bit 3 and
bit 7.
Bit Symbol
0 SO
1 EV
2 QS
3 EO
4 to 6 OMS
7 FR
8 HALT
9
10 to 14
15
Note 1. The description changes depending on the control mode.
2. The value at reading is undefined. Set "0" when writing.
The following table lists the commands issued to the servo amplifier. Turn on the bit that corresponds to
the command.
Command
Fault Reset
Shutdown
Switch On
Disable Voltage
Quick Stop
Disable Operation
Enable Operation
Fault Reset 0 → 1 (Note)
Note. To prevent the command from failing to be recognized in faulty communication, hold the state in which Bit 7 is " 1" for at least 10
ms for the Fault Reset command.
rw Controlword
ro Statusword
rw Controlword
Switch On
Enable Voltage
Quick Stop
Enable Operation
Operation Mode Specific
Differs depending on Modes of operation (6060h). (Refer to chapter 6.)
Fault Reset
Halt
0: Operation ready
1: Temporary stop
Operation Mode Specific
Differs depending on Modes of operation (6060h). (Refer to chapter 6.)
Reserved
The value at reading is undefined. Set "0" when writing.
New set-point
0: The servo motor is stopped.
1: The servo motor is driven.
This is used in the profile velocity mode. (Refer to section 6.3.2.)
Command bit setting of Controlword
Bit 7 Bit 3
Enable Operation
0
0 0
0
0
0 0
0 1
Name
Name
Description
Bit 2 Bit 1
Quick Stop Enable Voltage
1 1
1 1
0
0 1
1 1
1 1
5 - 4
Data Type Default
U16
U16
Data Type Default
U16
Transition No.
Bit 0
Switch On
0 (2)/(6)/(8)
1 (3)
(7)/(9)/(10)/(12)
(7)/(10)/(11)
1 (5)
1 (4)
(15)