5. CiA 402 DRIVE PROFILE
5 - 5
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)
State machine
x0xx xxx0 x0xx 0000
Not ready to switch on (Note)
x0xx xxx0 x1xx 0000
Switch on disabled
x0xx xxx0 x01x 0001
Ready to switch on
x0xx xxx0 x01x 0011
Switched on
x0xx xxx0 x01x 0111
Operation enabled
x0xx xxx0 x00x 0111
Quick stop active
x0xx xxx0 x0xx 1111
Fault reaction active
x0xx xxx0 x0xx 1000
Fault
Note. Statusword is not sent in the Not ready to switch on state.
5.1.3 Directions for use
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. (Refer to the figure in section 5.1.1.)
Current status
Command
Status after transition
(B) Switch on disabled
Switch on
(D) Switched on
(B) Switch on disabled
Enable operation
(E) Operation enabled
(C) Ready to switch on
Enable operation
(E) Operation enabled
Summary of Contents for MR-J4-_GF
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Page 185: ...8 TROUBLESHOOTING AT POWER ON 8 2 MEMO ...
Page 227: ...9 MANUFACTURER FUNCTIONS 9 42 MEMO ...
Page 269: ...10 OBJECT DICTIONARY 10 42 MEMO ...
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