YASKAWA SGD7S-120D, Product Manual

Page: 452 / 603

14.6 Device Control
14-21
14
Object Dictionary
14.6 Device Control
Error Code (603F Hex)
This object provides the SERVOPACK alarm/warning code of the last error that occurred.
Controlword (6040 Hex)
This object controls the device and operation mode.

Controlword Bits

Details on Bits 0 to 3
•
Bits 0 to 3: These bits function as the control command for the Servo Drive’s state.
Index
Subin-
dex
Name
Data
Type
Access
PDO
Mapping
Value
Saving to
EEPROM
603F hex 0 Error code UINT RO Yes 0 No
Index
Subin-
dex
Name
Data
Type
Access
PDO
Mapping
Value
Saving to
EEPROM
6040 hex 0 Controlword UINT RW Yes
0 to 0xFFFF
(default: 0)
No
Bit Function Description
0 Switch on
Refer to

Details on Bits 0 to 3 .
1 Enable voltage
2 Quick stop
3 Enable operation
4 to 6 Operation mode specific Refer to

Details on Bits 4 to 9 .
7 Fault reset 0
→
1: Alarm/warning reset.
8 Halt
Refer to

Details on Bits 4 to 9 .
9 Operation mode specific
10
−
(Reserved)
−
11 Positive torque limit
0: Disables torque limit parameter (object 2404 hex).
1: Enables torque limit parameter (object 2404 hex).
12 Negative torque limit
0: Disables torque limit parameter (object 2405 hex).
1: Enables torque limit parameter (object 2405 hex).
13 to 15
−
(Reserved)
−
Command
Controlword Bits
Bit 7 Bit 3 Bit 2 Bit 1 Bit 0
Shutdown 0 X 1 1 0
Switch on 0 0 1 1 1
Switch on + Enable operation 0 1 1 1 1
Disable voltage 0 X X 0 X
Quick stop 0 X 0 1 X
Disable operation 0 0 1 1 1
Enable operation 0 1 1 1 1