![background image](http://html1.mh-extra.com/html/omron/r88d-kn-series/r88d-kn-series_user-manual_742799455.webp)
A-55
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
-12 Ser
v
o Dr
iv
e Profile Object
•
This object controls the state machine of the Servo Drive.
Description of Set Values
*1
For details, refer to
*2
If this bit is set to 1 during the Homing mode (hm), the motor stops according to the settings of the Halt option
code (605D hex). This bit is ignored in other modes of operation.
*3
For details, refer to
•
This object gives the present state of the Servo Drive.
Description of Settings
6040 hex
Controlword
Range
0000 to FFFF hex
Unit
Default
0000 hex
Attribute
A
Size
2 bytes (U16)
Access
RW
PDO map
Possible
Bit
Name
Description
0
Switch on
The state is controlled by these bits.
Quick stop is not supported. The Quick stop bit is ignored even if set to
0.
*1
1
Enable voltage
2
Quick stop
3
Enable operation
4 to 6
Operation mode specific
These bits are specific to the operation mode. They are not used in
Cyclic synchronous position mode.
7
Fault reset
Errors and warnings are reset when this bit turns ON.
8
Halt
This bit is specific to the operating mode.
*2
9
Operation mode specific
They are not used in Cyclic synchronous position mode.
10
Reserved
11
P_CL
These bits switch the force limit function. They are normally set to 0.
*3
12
N_CL
13 to 15
Manufacturer specific
These are manufacturer specific bits. Always keep them at 0.
6041 hex
Statusword
Range
0000 to FFFF hex
Unit
Default
0000 hex
Attribute
Size
2 bytes (U16)
Access
RO
PDO map
Possible
Bit
Name
Description
0
Ready to switch on
These bits give the state.
For details, refer to
1
Switched on
2
Operation enabled
3
Fault
4
Voltage enabled
*1
5
Quick Stop
*2
6
Switch on disabled
7
Warning
This bit indicates that warning status exists. Operation continues without
changing the status.
8
Manufacturer specific
These are manufacturer specific bits. This bit is not used by G5-series
Servo Drives.
All
All