Object 6041h: Status word (DS402)
The momentary state of the state machine is read out with the aid of the status word.
|
Index |
|
|
Name |
Status word |
|
Object code |
VAR |
|
Data type |
UNSIGNED16 |
|
Access |
R/W |
|
PDO mapping |
possible |
|
Unit |
— |
|
Value range |
0 to 65535 |
|
EEPROM |
yes |
|
Default value |
0 |
Bit assignment in the status word
|
Bit |
Name |
Bit |
Name |
|
0 |
Ready to switch on |
8 |
STO – Safe Torque Off |
|
1 |
Switched on |
9 |
Remote |
|
2 |
Operation enabled |
10 |
Target reached |
|
3 |
Fault |
11 |
Internal limit active |
|
4 |
Voltage enabled |
12 |
Operation mode specific (reserved) |
|
5 |
Quick stop |
13 |
Operation mode specific (reserved) |
|
6 |
Switch on disabled |
14 |
Manufacturer-specific (reserved) |
|
7 |
Warning |
15 |
Manufacturer-specific (reserved) |
States of the state machine
|
State |
Bit 6 |
Bit 5 |
Bit 3 |
Bit 2 |
Bit 1 |
Bit 0 |
|
Not ready to switch on |
0 |
X |
0 |
0 |
0 |
0 |
|
Switch on disabled |
1 |
X |
0 |
0 |
0 |
0 |
|
Ready to switch on |
0 |
1 |
0 |
0 |
0 |
1 |
|
Switched on |
0 |
1 |
0 |
0 |
1 |
1 |
|
Operation enabled |
0 |
1 |
0 |
1 |
1 |
1 |
|
Fault |
0 |
X |
1 |
0 |
0 |
0 |
|
Fault reaction active |
0 |
X |
1 |
1 |
1 |
1 |
|
Quick stop active |
0 |
0 |
0 |
1 |
1 |
1 |
Bits marked by X are irrelevant
Descriptions of the remaining bits in the status word:
Bit 4: Voltage_enabled The DC-link voltage is present if this bit is set.
Bit 7: Warning There are several possible reasons for Bit 7 being set and this warning being produced. The reason of a warning can be seen by the Error code of the Emergency message, which is sent on the bus caused by this warning.
Bit 9: The remote-bit is set by the telnet command FBUS.REMOTE. The default state is 1 indicating that the power stage is only controlled by the DS402 control word. For special actions using telnet like tuning or commutation finding, FBUS.REMOTE is set to 0 using telnet to inform the fieldbus master.
Bit 10: Target_reached This is set when the drive has reached the target position. In profile position mode the position window is set with MT.TPOSWND and in homing mode with HOME.TPOSWND. If FBUS.PARAM05-bit 15 is set to 1, the Target Reached-bit is also set when the drive comes to a standstill after the halt bit 8 of the control word was set, or when a quickstop is commanded using the quick stop option code 5 or 6 (object 605Ah), and coming to a standstill.
Bit 11: Internal_limit_active This bit specifies a movement was or is limited. Bit 11 is set when one of the following warnings is set: n478, n107, n108, n154, n157, n158,n159, n160, n161, n163, n164, n165, n167, n168, n169, n170, n171, n174, n179, n135
Mode-dependent bits in the status word
The following table shows the mode-dependent bits in the status word. The individual modes are set by Object 6060h: Modes of Operation (DS402).
|
Operation mode |
No. | Bit 12 | Bit 13 |
|---|---|---|---|
|
Profile Position Mode (pp) |
01h |
setpoint acknowledge |
following error |
|
Homing Mode (hm) |
06h |
homing attained |
homing error |
|
Interpolated Position Mode (ip) |
07h |
ip mode active |
following error |
|
Cyclic sync position Mode (csp) |
08h |
This bit stays on 1 as long as the drive is following the position set-points. |
following error |
|
Cyclic sync velocity mode (csv) |
09h |
This bit stays on 1 as long as the drive is following the position set-points. |
reserved |
|
Cyclic sync torque mode (cst) |
0ah |
This bit stays on 1 as long as the drive is following the position set-points. |
reserved |
