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:
|
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 |