Object 6041h: Status word (DS402)

The momentary state of the state machine is read out with the aid of the status word.

Index

6041h

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
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

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