A-1-2 Modes Of Operation - Omron 1 S Series User Manual

Appendices
State Coding
State is indicated by the combination of bits in Statusword (6041 hex), as shown in the following table.
Status
Not ready to switch on
Switch on disabled
Ready to switch on
Switched on
Operation enabled
Fault reaction active
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
A-1-2 Modes of Operation
1S-series Servo Drives Advance Type with built-in EtherCAT communications supporting safety func-
tions support the following modes of operation.
Modes of
operation
csp
csv
cst
pp
pv
hm
The operation mode is set in Modes of operation (
play (6061 ).
hex
You can check the operation modes supported by the Servo Drive with Supported drive modes (
If an unsupported operation mode is specified, a Command Warning will occur.
A - 4
Bit 6
*1
sod
0
1
0
0
0
0
0
Cyclic synchronous position mode
Cyclic synchronous velocity mode
Cyclic synchronous torque mode
Profile position mode
Profile velocity mode
Homing mode
1S-series with Built-in EtherCAT Communications and Safety Functionality User's Manual (I621)
Bit 5 Bit 4 Bit 3
*2 *3 *4
qs ve f
0 Dis- 0
abled
1 Dis- 0
abled
1 Dis- 0
abled
1 Dis- 0
abled
1 Dis- 0
abled
1 Dis- 1
abled
1 Dis- 1
abled
Description
6060 hex). It is also given in Modes of operation dis-
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
6502 hex).