Object 1002h: Manufacturer Status Register (DS301)

The manufacturer status register contains important device information.

Index	1002h
Name	Manufacturer Status Register
Object code	VAR
Data type	UNSIGNED32
Category	optional

The following table shows the bit assignment for the status register:

Bit	Description	Bit	Description
0	1 = Movement (positioning, homing) active	16	1 = Homing move active
1	reference position set	17	reserved
2	1 = reference switch high (home-position)	18	reserved
3	1 = In Position	19	1 = Emergency stop active
4	1 = Current (torque) limitation active	20	reserved
5	reserved	21	reserved
6	reserved	22	reserved
7	Active Disable activated	23	1 = Homing move finished
8	Warning active	24	Power stage deactivating
9	1 = target velocity reached (pp- or pv-Mode)	25	1 = digital input 1 set
10	reserved	26	1 = digital input 2 set
11	1 = Homing error	27	1 = digital input 3 set
12	1 = Motor standstill	28	1 = digital input 4 set
13	1 = Safe Torque Off selected	29	1 = Power Ready signal from the power supply is enabled (similar to hardware enable)
14	1 = Power stage enabled	30	1 = Wake and Shake action is required
15	1 = Error state	31	Braking, 1 = set points not accepted

The following table shows the bit assignments differences from the table above for the power supply status register:

Bit	Description
13	STO string 1
14	STO string 2
15	Error state
29	digital input hardware enable set