Omron R88M-K Series User Manual page 234

6-1 Controlling the State Machine of the Servo Drive
*3 Bit 7: Operation when Fault reset bit turns ON.
*4 When an error reset is executed with bit 7, set the bit back to 0 before giving the next command.
State Coding
State is indicated by the combination of bits in Statusword (6041 hex), as shown in the
following table.
Not ready to switch on
Switch on disabled
Ready to switch on
Switched on
Operation enabled
Fault reaction active
6
Fault
*1 sod = switch on disabled
*2 qs = quick stop
*3 ve = voltage enabled
*4 f = fault
*5 oe = operation enabled
*6 so = switched on
*7 rtso = ready to switch on
6-3
Fault state: Errors are reset and the Servo Drive returns to its initialized state.
If there are any warnings (Warning (6041 hex: Statusword bit 7), they are reset.
State other than Fault state:
If there are any warnings (Warning (6041 hex: Statusword bit 7), they are reset.
The state will change according to command bits 0 to 3.
Bit 6
State
*1
sod
0
1
0
0
0
0
0
OMNUC G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Bit 5 Bit 4 Bit 3
*2 *3 *4
qs ve f
×
0 0
×
1 0
×
1 0
×
1 0
×
1 0
×
1 1
×
1 1
Bit 2 Bit 1 Bit 0
*5 *6 *7
oe so rtso
0 0 0
0 0 0
0 0 1
0 1 1
1 1 1
1 1 1
0 0 0