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 |
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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) |
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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) |
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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 |