Object 6041h: Status word (DS402)

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

Index

6041h

Name

Status word

Object code

VAR

Data type

UNSIGNED16

Access

R/W

PDO mapping

possible

Unit

—

Value range

0 to 65535

EEPROM

yes

Default value

0

Bit assignment in the status word

Bit

Name

Bit

Name

0

Ready to switch on

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

1

Switched on

9

Remote

2

Operation enabled

10

Target reached

3

Fault

11

Internal limit active

4

Voltage enabled

12

Operation mode specific (reserved)

5

Quick stop

13

Operation mode specific (reserved)

6

Switch on disabled

14

Manufacturer-specific (reserved)

7

Warning

15

Manufacturer-specific (reserved)

 

States of the state machine

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

Bits marked by X are irrelevant

Description of the remaining bits in the status word

Bit 4: voltage_enabled  The DC-link voltage is present if this bit is set.

Bit 7: warning There are several possible reasons for Bit 7 being set and this warning being produced. The reason of a warning can be seen by the Error code of the Emergency message, which is sent on the bus caused by this warning.

Bit 9:The remote-bit is set by the telnet command FBUS.REMOTE. The default state is 1 indicating that the power stage shall be only controlled by the DS402 control word. For special actions via telnet like tuning or commutation finding, FBUS.REMOTE shall be set to 0 via telnet to inform the fieldbus master.

Bit 10: target_reached This is set when the drive has reached the target position. In profile position mode the position window is set via MT.TPOSWND, in homing mode via HOME.TPOSWND. If FBUS.PARAM05-bit 15 is set to 1. the Target Reached - bit is also set, when the drive comes to a standstill after the halt bit 8 of the control word was set.

Bit 11: internal_limit_active This bit specifies that a movement was or is limited. Bit 11 is set when one of the following warnings is set: n478, n107, n108, n154, n157, n158,n159, n160, n161, n163, n164, n165, n167, n168, n169, n170, n171, n174, n179, n135

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 Object 6060h: Modes of Operation (DS402).

Operation mode

No. Bit 12 Bit 13

Profile Position Mode (pp)

01h

setpointClosedSetpoint is the target value that an automatic control system, for example PID controller, will aim to reach 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

Interpolated Position Mode (ip)

07h

ip mode active

following 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 on 1 as long as the drive is following the position set-points.

reserved

Cyclic sync 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 mode (cst)

0ah

This bit stays on 1 as long as the drive is following the position set-points.

reserved