Omron OMNUC G5 Series User Manual page 187

State Descriptions
States
Not ready to switch on
Switch on disabled
Ready to switch on
Switched on
Operation enabled
Fault reaction active
Fault
Command Coding
State is controlled by combining the bits in the Controlword (6040 hex) as shown in the
following table.
fr = fault reset, eo = enable operation, qs = quick stop, ev = enable voltage, so = switch on
Command
Shutdown
Switch on
Switch on +
enable
operation
Disable
voltage
Quick stop
Disable
operation
Enable
operation
Fault reset
*1 The state automatically moves to Operation enabled state after Switched on state.
*2 Quick stop commands are not supported. Even if a quick stop command is received, it will be ignored.
OMNUC G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
6-1 Controlling the State Machine of the Servo Drive
The control circuit power supply is turned ON and initialization is
being executed.
Initialization has been completed.
Servo Drive parameters can be set.
The main circuit power supply can be turned ON.
Servo Drive parameters can be set.
The main circuit power supply is ON.
Servo Drive parameters can be set.
The Servo is ON.
Servo Drive parameters can be set.
There was an error in the Servo Drive and the cause is being
determined.
Servo Drive parameters can be set.
There is an error in the Servo Drive.
Servo Drive parameters can be set.
Controlword Bit
Bit 7 Bit 3
fr eo
× ×
×
0
×
1
× ×
× ×
×
0
× 1
*3*4
0 → 1 ×
Description
Bit 2 Bit 1
qs ev
1 1
1 1
1 1
× 0
0 1
1 1
1 1
× ×
Move to
Bit 0
so
0 2, 6, 8
1 3
*1
1 3 + 4
× 7, 9, 10
Not
×
*2
supported
1 5
1 4
× 15
6-2
6