Cia 402 Drive Profile; A-1-1 Controlling The State Machine Of The Servo Drive - Omron 1 S Series User Manual

Appendices
A-1 CiA 402 Drive Profile
This section describes the profile that is used to control the Servo Drive.
A-1-1 Controlling the State Machine of the Servo Drive
The state of 1S-series Servo Drives Advance Type with built-in EtherCAT communications supporting
safety functions is called "PDS state."
The PDS state is controlled by Controlword (6040 hex).
Each PDS state is shown in Statusword (6041 hex).
State Machine
The state of an 1S-series Servo Drive Advance Type changes as shown below.
Each  box indicates a state, while numbers 2 to 10 and 15 indicate the state control commands.
Refer to State Descriptions on page A-3 for details on the states, and State Control Commands on page
A-3 for details on the state control.
Shutdown: 2
Switch on: 3
Disable Voltage: 10
Enable operation: 4
Note Quick stop active state is not supported. Even if a Quick stop command is received, it will be ignored.
A - 2
Power turned OFF or Reset
Start
0: After the control power is turned ON
Not ready to switch on
1: After initialization is completed
15: Fault reset
Switch on
disabled
7: Disable Voltage
Ready to
switch on
6: Shutdown
Switched on
5: Disable
operation
Operation
8: Shut down
enabled
9: Disable Voltage
1S-series with Built-in EtherCAT Communications and Safety Functionality User's Manual (I621)
Control circuit
power supply
Fault
ON
14: Error
response
operation
ON
completed
Fault reaction
active
ON
13: Error occurs
Main circuit Servo
power supply ON/OFF
ON
or OFF
OFF
ON OFF
ON ON