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Appendices
A - 2
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
A-1 CiA 402 Drive Profile
This section describes the profile that is used to control the Servo Drive.
The state of 1S-series Servo Drives with built-in EtherCAT communications is called “PDS state.”
The PDS state is controlled by
Controlword
(6040 hex).
Each PDS state is shown in
Statusword
(6041 hex).
The state of an 1S-series Servo Drive changes as shown below.
Each
box indicates a state, while numbers 2 to 10 and 15 indicate the state control commands.
Refer to
on page A-3 for details on the states, and
A-3 for details on the state control.
Note Quick stop active state is not supported. Even if a Quick stop command is received, it will be ignored.
A-1-1
Controlling the State Machine of the Servo Drive
State Machine
Power turned OFF or Reset
Not ready to switch on
1: After initialization is completed
Start
ON
Control circuit
power supply
Main circuit
power supply
Servo
ON/OFF
ON
ON
ON
ON
ON
OFF
OFF
ON
or
OFF
0: After the control power is turned ON
Switch on
disabled
Fault
Shutdown: 2
7: Disable Voltage
Ready to
switch on
Switch on: 3
Switched on
6: Shutdown
Disable Voltage: 10
Enable operation: 4
5: Disable
operation
15: Fault reset
Operation
enabled
8: Shut down
9: Disable Voltage
13: Error occurs
Fault reaction
active
14: Error
response
operation
completed
Содержание R88D-1SN ECT Series
Страница 544: ...7 Applied Functions 7 52 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...
Страница 560: ...8 Safety Function 8 16 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...
Страница 700: ...10 Operation 10 10 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...
Страница 969: ...AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 I 1 I Index...
Страница 972: ...I 4 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 Appendices...
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