6041h, 6841h Statusword - Axis #

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 value.

In Profile Position Mode, the position window is set using AXIS#.MT.TPOSWND.

In 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, it is set with AXIS#.HOME.TPOSWND.

In Profile Velocity Mode, the window is set via the object 606Dh sub 0 and a window time is set via object 606Eh sub 0.
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 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, 6860h Modes of operation - Axis #.

Modes of Operation No. Bit 12 Bit 13
Profile Position Mode (pp) 01h Set-point acknowledge Following error
Profile Velocity (pv) 03h This bit is 1 as long as the motor is at standstill. 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

Axis 1

Parameter Index Sub-Index Data Type Float Scale Units Access PDO Mappable
Statusword - Axis 1 6041h 0h Unsigned16 - - Read only Yes

Axis 2

Parameter Index Sub-Index Data Type Float Scale Units Access PDO Mappable
Statusword - Axis 2 6841h 0h Unsigned16 - - Read only Yes