Operation Mode
Operation
Profile position
mode
Profile position operation is canceled and
statusword
(6041h)
changes as given below.
Bit 08 = 1: Active Mode Function operating.
Bit 12 = 0: Previous set-point already processed, waiting for new
set-point.
Bit 15 = 1: Safety function operating.
Homing mode
Homing operation is canceled and
statusword
(6041h) changes
as given below.
Bit 08 = 1: Active Mode Function operating.
Bit 13 = 1: Homing error.
Bit 15 = 1: Safety function operating.
Cyclic synchronous
position/ velocity/
torque mode
Cyclic synchronous position, velocity, or torque operation is can-
celed and
statusword
(6041h) changes as given below.
Bit 08 = 1: Active Mode Function operating.
Bit 12 = 0: Target value (position/velocity/torque) ignored.
Bit 15 = 1: Safety function operating.
Interpolated position
mode
Interpolated position operation is canceled and
statusword
(6041h) changes as given below.
Bit 08 = 1: Active Mode Function operating.
Bit 12 = 0: Interpolation operation disabled.
Bit 15 = 1: Safety function operating.
Profile velocity/
torque mode
Profile velocity or torque operation is canceled and
statusword
(6041h) changes as given below.
Bit 08 = 1: Active Mode Function operating.
Bit 15 = 1: Safety function operating.
n
Recovery Conditions
If the Active Mode Function operates and the motor is stopped, the Active Mode Function
will be reset and normal operation will be enabled when all of the following conditions are
met.
n
All relevant safety request input signals must be ON.
n
A period of time equal to or greater than the value set as the Active Mode Hold Time
(Pn625) must have elapsed.
n
The following command must have been sent from the Controller.
n
Interpolated Position Mode: Bit 8 in
controlword
(6040h) = 1 (stop axis according to
halt option code
(605Dh)) or bit 4 = 0 (disable interpolation).
n
Cyclic Synchronous Position/Velocity Mode or Profile Velocity Mode: Bit 8 in control-
word (6040h) = 1 (Halt).
n
Profile Torque or Cyclic Synchronous Torque Mode: Bits 1 and 2 in controlword
(6040h) = 1 (Shutdown).
n
Homing Mode or Profile Position Mode: No condition.
If the HWBB function has turned OFF the servo, normal operation will be
enabled when the corresponding safety request input signal turns ON.
Operation by Operation
Mode When Stopped for
the Active Mode Function
Recovery Method
Sigma-7 Series SERVOPACKs
Safety Functions
Safety Module Safety Functions > Active Mode Function
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