Mitsubishi Electric MR-J5-G User Manual page 37

Events and PDS state transitions
Setting Controlword enables control of the state transitions.
After the PDO communication is established (after the NMT state has reached "Operational"), the status is controlled by the
master station transmitting commands (by setting Controlword) in accordance with the following table.
Each axis of the multi-axis servo amplifier supports the PDS state.
The following shows the PDS state transition events and operations.
Transition No. Event
(0) Control circuit power supply is turned on
(1) Transitions automatically when the control circuit power supply is
turned on
(2) Transitions with the "Shutdown" command from the master station
(3) Transitions with the "Switch On" command from the master station
(4) Transitions with the "Enable Operation" command from the master
station
(5) Transitions with the "Disable Operation" command from the
master station
(6) Transitions with the "Shutdown" command from the master station
(7) Transitions with the "Disable Voltage" command or "Quick Stop"
command from the master station
(8) (A) Transitions with the "Shutdown" command from the master
station
(B) Transitions when the main circuit power supply is turned off
(9) Transitions with the "Disable Voltage" command from the master
station
(10) Transitions with the "Disable Voltage" command or "Quick Stop"
command from the master station
(11) (A) Transitions with the "Quick Stop" command from the master
station
(B) Transitions when the forced stop signal is turned off
(12) Transitions automatically after the completion of Quick Stop (when
the value of [Quick stop option code (Obj. 605Ah)] is any of 1, 2, 3,
or 4)
(13) Alarm occurrence
(14) Automatic transition
(15) Transitions with the "Fault Reset" command from the master
station
*1 This event occurs when "1" (Quick stop active) is selected in [Pr. PF29.1 State selection with forced stop in progress].
Operation
Initialization
Communication setting
None
The dynamic brake is released.
The operation becomes ready after servo-on.
The operation is disabled after servo-off.
The dynamic brake operates.
None
The operation is disabled after servo-off and dynamic braking.
The operation is disabled after servo-off and dynamic braking.
The dynamic brake operates.
Quick Stop starts.
*1
The operation is disabled after servo-off and dynamic braking.
Processing against the alarm is executed.
After the completion of the alarm occurrence processing, the
operation is disabled by servo-off and the dynamic brake.
An alarm reset is performed. Resettable alarms are cleared.
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1 CC-Link IE TSN
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1.4 APPENDIX