Statusword Bits (ZSW1)

All statusword 1 bits are implemented according to the PROFIdrive standard. All mandatory bits are implemented.

The Statusword (ZSW1) defines the following functions:

General Statusword Bits

Bit Number

Description

Comment

0

ZSW1 drive ready to switch on

Ready To Switch On /Not Ready To Switch On.

1

ZSW1 drive ready to operate

Ready To Operate/Not Ready To Operate.

2

ZSW1 operation enabled

Operation Enabled (drive follows velocity setpoint)/Operation Disabled.

3

Fault present

A fault is present on the axis.

4

Coast stop not activated

No coast stop is executed.

5

Quick stop not activated

No quick stop is executed.

6

Switching on inhibited

 

7

Warning present

 

9

Control requested by the master

When AXIS#.CMDSOURCE = Fieldbus, this bit is set, otherwise it is 0 to indicate to the Programmable Logic Controller (PLC) the axis is ignoring commands.

In Velocity mode:

ZSW1 Special Bits (Velocity mode)

Bit Number

Description

Comment

8

Velocity error within range

Difference between target velocity and actual velocity is smaller than tolerance configured in P5200 (default: 10 [RPM]). (AXIS#.PROFINET.VELCOMP)

10

Target velocity reached

Actual velocity is at or above the comparison velocity configured in P5201 (default 1500 [RPM]). (AXIS#.PROFINET.​VELTOLERANCE)

11-15

Device specific

Not implemented.

 

In Position mode:

ZSW1 Special Bits (Position mode)

Bit Number

Name

Description

8

Following error in range

Error window. (AXIS#.PL.ERR and AXIS#.PL.ERRFTHRESH )

10

Target position reached

Bit 11 (Motion task target position is reached). (AXIS#.MOTIONSTAT)

11

Home position set

Bit 1 & 2 (Homing finished). (AXIS#.MOTIONSTAT)

12

Traversing Task acknowledgment

On positive edge, traversing task acknowledged or setpoint accepted.

13

Drive stopped

Axis is not moving. (AXIS#.ZEROREACHED)

14-15

Device specific

Not implemented