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Appendicies
A-4
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
State is indicated by the combination of bits in Statusword (6041 hex), as shown in the following table.
G5-series Servo Drives with built-in EtherCAT communications support the following Modes of
operation.
csp: Cyclic synchronous position mode
csv: Cyclic synchronous velocity mode
cst: Cyclic synchronous torque mode
pp: Profile position mode
hm: Homing mode
The operation mode is set in Modes of operation (6060 hex). It is also given in Modes of operation
display (6061 hex).
The operation modes supported by the Servo Drive can be checked in Supported drive modes
(6502 hex).
If an unsupported operation mode is specified, a Function Setting Error (Error No. 93.4) will occur.
State Coding
State
Bit 6
Switch on
disabled
Bit 5
Quick
stop
Bit 4
Voltage
enabled
Bit 3
Fault
Bit 2
Operation
enabled
Bit 1
Switched
on
Bit 0
Ready to
switch on
Not ready to switch on
0
0
0
0
0
0
Switch on disabled
1
1
0
0
0
0
Ready to switch on
0
1
0
0
0
1
Switched on
0
1
0
0
1
1
Operation enabled
0
1
0
1
1
1
Fault reaction active
0
1
1
1
1
1
Fault
0
1
1
0
0
0
A-1-2
Modes of Operation