6041h, 6841h Statusword - AxisX

The momentary state of the state machine can be read with the aid of the statusword.

Index	Sub-Index	Data Type	Access	PDO Mappable	Description
0x6041	0	Unsigned16	RW	TxPDO	Drive state machine statusword

Bit assignment in the statusword

Bit	Name	Description
0	Ready to switch on	Controlled by state machine
1	Switched on	Controlled by state machine
2	Operation enabled	Controlled by state machine
3	Fault	Axis fault is active
4	Voltage enabled	Bus voltage is present
5	Quick stop	Controlled by state machine
6	Switch on disabled	Controlled by state machine
7	Warning	Axis warning active
8	STO – Safe Torque Off	STO is preventing drive from enabling (AXIS#.SAFE.STO.ACTIVE)
9	Remote	1 – Fieldbus in control (AXIS#.CMDSOURCE = Fieldbus) 0 – WorkBench in control (AXIS#.CMDSOURCE = Service)
10	Target reached	Axis has reached target value. In Profile Position Mode and Homing Mode the position window is set using AXIS#.SETTLE.P. The behavior can be configured by AXIS#.CANOPEN.TARPOSMODE. In Profile velocity and Analog velocity modes, this bit is set when AXIS#.VL.FB is within the window set using the object 606Dh, 686Dh Velocity window - AxisX sub 0 and a window time is set using object 606Eh, 686Eh Velocity window time - AxisX sub 0. The bit is also set on coming to standstill on Halt bit (bit 8 of Controlword = 1) or after Quickstop (bit 2 of Controlword = 0) with quick stop option code 5 or 6.
11	Internal limit active	This bit is controlled by the conditions below: Set if motion is being commanded into a limit switch and clears when moving out of a limit switch. Set if a controlled stop is in progress (SS1, action table, etc) and clears once the controlled stop is complete. The drive is usually disabled at the end of most controlled stop actions and this bit will clear. Set while Wake and Shake is active.
12	Operation mode specific (reserved)	See Mode-dependent bits in the statusword
13	Operation mode specific (reserved)	See Mode-dependent bits in the statusword
14	Ramp Down Requested	SIL3 drives only. Indicates that a SS1 input was triggered and the master should stop the axis. STO will be triggered in configured SS1_t amount of time for instance of SS1 that was triggered.
15	Manufacturer-specific (reserved)

States of the state machine

Bits marked by X are irrelevant

State	Bit 6 switch on disabled	Bit 5 quick stop	Bit 3 fault	Bit 2 operation enabled	Bit 1 switched on	Bit 0 ready to switch on
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

Mode-dependent bits in the statusword

The following table shows the mode-dependent bits in the statusword. The individual modes are set by object 6060h, 6860h Modes of operation - AxisX.

Modes of Operation	No.	Bit 12	Bit 13
Analog velocity	FEh	This bit is 1 while the motor is at standstill (see AXIS#.ZEROREACHED).	Not used
Analog torque	FFh	This bit is 1 while the motor is at standstill (see AXIS#.ZEROREACHED).	Not used
Profile position mode (pp)	01h	Set-point acknowledge	Following error
Profile velocity (pv)	03h	This bit is 1 while the motor is at standstill (see AXIS#.ZEROREACHED).	Not used
Homing mode (hm)	06h	Homing attained	Homing 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 1 as long as the drive is following velocity set-points	Not used

Axis 1

Parameter	Index	Sub-Index	Data Type	Float Scale	Units	Access	PDO Mappable	SMM Versions
Statusword - Axis 1	6041h	0	Unsigned16	-	-	Read only	Yes	All

Axis 2

Parameter	Index	Sub-Index	Data Type	Float Scale	Units	Access	PDO Mappable	SMM Versions
Statusword - Axis 2	6841h	0	Unsigned16	-	-	Read only	Yes	All