Mitsubishi Electric MR-JE-C, Instruction Manual

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5. CiA 402 DRIVE PROFILE
5 - 3
5.1.2 Related objects/registers
Index Sub Index Access Name Data type Default
6040h 0 rw Controlword U16 0000h
6041h 0 ro Statusword U16
(1) Controlword (6040h)
This object/register 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 0000h
The current control command status can be checked.
In addition, control commands can be written.
The following table lists the bits of this object/register. 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 to chapter 9.)
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 to chapter 9.)
10 to 14
Reserved
The value at reading is undefined. Set "0" when writing.
15
New set-point
0: The servo motor is stopped.
1: The servo motor is driven.
Note 1. The description changes depending on the control mode.
2. 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.