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A-13
Appendicies
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
A-1
CiA402 D
ri
ve Pr
ofile
App
A-1
-5 Cha
nging
the Mode of Oper
ation
(d) Example of Servo OFF during Operation in hm
*1
When the servo is turned OFF, a deceleration stop starts and 6061 hex continues to show the same mode as
the mode of operation (hm) specified in 6060 hex.
*2
After the motor stops, No mode assigned is shown by 6061 hex.
*3
Bits 12 and 13 will retain the preceding values during deceleration when the servo is turned OFF.
Note
The operation during the interval from A to B for main circuit power OFF is the same as when the servo is
turned OFF. The stop function due to drive prohibition is disabled during the homing operation in hm mode.
6061 hex
30 mm/s
hm
Operation enabled
Switched on
No mode assigned
0
0
6060 hex
hm
(VCMP)
(NEAR)
1
0
1
0
(Target position ignored)
0/1
0
0
1
0/1
*3
*1
0/1
(VLIM)
(DEN)
(Following error)
(Target reached)
A
*2
B
(Remote)
0/1
0/1
*3
6041 hex: Bit 10
6041 hex: Bit 12
6041 hex: Bit 13
4000 hex: Bit 1
4000 hex: Bit 4
4000 hex: Bit 7
4000 hex: Bit 8
Actual speed
Servo ON
Servo OFF
PDS state
6041 hex: Bit 9