User Manual Of EL7-EC** AC Servo
167
** indicates that it has no effect on the start state and remains in the start state
*1) The state machine switch corresponds to figure 7.1
The definition of bit 8 and bit 6~4 in different operation modes are shown in the following
table
Bit
Operation Mode
Profile
Position
(PP)
Profile
Velocity
(PV)
Profile
Torque
(PT)
Homing
(HM)
Cyclic
Sync
Position
(CSP)
Cyclic
Sync
Velocity
(CSV)
Cyclic
Sync
Torque
(CST)
8
Stop with
deceleratio
n
Stop with
deceleratio
n
Stop with
decelerati
on
Stop with
deceleratio
n
-
-
-
6
Absolute/
Increment
-
-
-
-
-
-
5 Immediatel
y trigger
-
-
-
-
-
-
4
New
Position
-
-
Start
-
-
-
5.4.7 Status Word
Bit definition of Status Word 6041h.
Bit
Definition
15~14
Reserved
13~12
Related to modes
11
Position limit valid
10
Position arrival
9
Distance
8
Related to modes
7
Reserved
6
Not switch on
5
Quick stop
4
Voltage output
3
Fault
2
Operation enable
1
Switch on
0
Ready to switch on
Bit 11 is valid when the software or hardware limit is in effect.
The combination of bit 6 and bit 3~0 represents the device state shown in following table
Combination of bit 6 and bit 3~0
Description
××××,××××,×0××,0000
Not ready to switch on
××××,××××,×1××,0000
Switch on disabled
××××,××××,×01×,0001
Ready to switch on
××××,××××,×01×,0011
Switch on
××××,××××,×01×,0111
Operation enabled