Mitsubishi Electric MR-J4-_GF, Instruction Manual

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5. CiA 402 DRIVE PROFILE
5 - 3
5.1.2 Related object
Index
Sub
Index
Access Name
Data
Type
Default
6040h 0 rw Controlword U16
6041h 0 ro Statusword U16
(1) Controlword (6040h)
This object issues a command from the master station (controller) to the slave stations (servo
amplifiers).
Index
Sub
Index
Access Name
Data
Type
Default
6040h 0 rw Controlword U16
The current control command status can be checked.
In addition, control commands can be written.
The following table lists the bits of this object. The slave can be controlled with bit 0 to bit 3 and bit 7.
Bit Symbol Description
0 SO Switch On
1 EV Enable Voltage
2 QS Quick Stop
3 EO Enable Operation
4 to 6 OMS
Operation Mode Specific
Differs depending on Modes of operation (6060h). (Refer to chapter 6.)
7 FR Fault Reset
8 HALT
Halt
0: Operation ready
1: Temporary stop
9
Operation Mode Specific
Differs depending on Modes of operation (6060h). (Refer to chapter 6.)
10 to 15
Reserved
The value at reading is undefined. Set "0" when writing.
The following table lists the commands issued to the servo amplifier. Turn on the bit that corresponds to
the command.
Command
Command bit setting of Controlword
Transition No.
Bit 7: Fault Reset
Bit 3: Enable
Operation
Bit 2: Quick Stop
Bit 1: Enable
Voltage
Bit 0: Switch On
Shutdown 0 1 1 0 (2)/(6)/(8)
Switch On 0 0 1 1 1 (3)
Disable Voltage 0 0 (7)/(9)/(10)/(12)
Quick Stop 0 0 1 (7)/(10)/(11)
Disable Operation 0 0 1 1 1 (5)
Enable Operation 0 1 1 1 1 (4)
Fault Reset 0 → 1 (Note) (15)
Note. To prevent the command from failing to be recognized in faulty communication, hold the state in which Bit 7 is "1" for at least 10
ms for the Fault Reset command. When Bit 7 is turned on, be sure to turn it off.