6041h: Status Word (DS402)

The momentary state of the state machine can be read out with the aid of the status word.

Index Sub-Index Data Type Access PDO Mappable Description
0x6041 0 Unsigned16 RW TxPDO Drive state machine status word

Bit assignment in the status word

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 TorqueClosedTorque is the tendency of a force to rotate an object about an axis. Just as a force is a push or a pull, a torque can be thought of as a twist Off STO is preventing drive from enabling (AXIS#.SAFE.STO.ACTIVE)
9 Remote

1 – FieldbusClosedA Fieldbus is an industrial network system for real-time distributed control (e.g. CAN or Profibus). It is a way of connecting instruments in a plant design in control (AXIS#.CMDSOURCE = Fieldbus)

0 – WorkBench in control (AXIS#.CMDSOURCE = Service)

10 Target reached Axis has reached target position. In profile position mode the position window is set using AXIS#.MT.TPOSWND. In homing mode it is set with AXIS.HOME.TPOSWND.
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 W&S is active.
12 Operation mode specific (reserved) See Mode-dependent bits in the status word
13 Operation mode specific (reserved) See Mode-dependent bits in the status word
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 siwtched 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 status word

The following table shows the mode-dependent bits in the status word. The individual modes are set by 6060h: Modes of Operation (DS402).

Operation mode

No. Bit 12 Bit 13

Profile Position Mode (pp)

01h

Set-point acknowledge

Following error

HomingClosedThe Homing procedure allows, based on a position measurement, to set a position offset to the motor in order to ensure it is physically at the home position 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