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