Usage - Mitsubishi Electric MELSERVO-MR-J4 GF Series Instruction Manual

Bit 0 to Bit 3, Bit 5, and Bit 6 are switched depending on the state machine (internal state of the MR-J4-_GF_(-RJ) servo
amplifier). Refer to the following table for details.
Statusword (bin)
x0xx xxx0 x0xx 0000
x0xx xxx0 x1xx 0000
x0xx xxx0 x01x 0001
x0xx xxx0 x01x 0011
x0xx xxx0 x01x 0111
x0xx xxx0 x00x 0111
x0xx xxx0 x0xx 1111
x0xx xxx0 x0xx 1000
*1 Statusword is not sent in the Not ready to switch on state.

Usage

A command of Controlword allows a transition to the target status, skipping the statuses in between. The statuses can
transition as shown in the following table, for example. (Page 56 Function explanation)
Current state
(B) Switch on disabled
(B) Switch on disabled
(C) Ready to switch on
5 CiA 402 DRIVE PROFILE
60
5.1 State machine control of the servo amplifier
State machine
Not ready to switch on
Switch on disabled
Ready to switch on
Switched on
Operation enabled
Quick stop active
Fault reaction active
Fault
Command
Switch on
Enable operation
Enable operation
*1
Status after transition
(D) Switched on
(E) Operation enabled
(E) Operation enabled