Appendices
A - 56
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
•
This object controls the state machine of the Servo Drive.
Explanation of Settings
*1
For details, refer to Command Coding on page A-3.
*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 7-7 Force Limit Switching on page 7-22.
6040 hex
Controlword
Setting
range
0000 to FFFF hex
Unit
–
Default
setting
0000 hex
Data
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
This bit is specific to the operating 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”.
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