Statusword

Index.Sub	6041.0H
Data Type	Unsigned16
Access	Read Only
PDO Mappable	TX_PDO ⁽¹⁾
Unit	--
Range	--
Default Value	--
Store Supported	No
Description	The Statusword indicates the current state of the drive, the operating state of the mode and manufacturer specific options.
Notes	⁽¹⁾ Available with firmware V00r74 or superior.

15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
Manuf. specific		Op. mode specific		Int. limit active	Target reached	Remote	Manuf. specific	Warning	Switch on disabled	Quick stop	Voltage enabled	Fault	Operation enabled	Switched on	Ready to switch on
O		O		M	M	M	O	O	M	M	M	M	M	M	M

Bits

Definition

Bits 0,1,2,3,5,6

Device state (see table 1)

Bit4

High voltage is applied to the drive (if bit is set to 1)

Bit5

If this bit is equal to 0, the drive is reacting on a quick stop request.

Bit7

If this bit is set to 1, a drive warning is present. The cause means no error but a state that has to be mentioned. The status of the drive does not change. The cause of the warning may be found by reading the Warning_Inserted (59A2.0H) object. This bit is set and reset by the device.

Bit8

This bit may be used by a drive manufacturer to implement any manufacturer specific functionality.

Bit9

If this bit is set to 1, then parameters may be modified via CAN-network and the drive executes the content of a command message. If this bit is equal to 0, then the drive is in local mode and will not execute the command message. In local mode the drive will accept accesses via SDO.

Bit10

If this bit is set to 1 then a set-point has been reached. The set-point is dependent on the operating mode. The description is in the chapter of the specific Operation mode.

Bit11

This bit indicates that an internal limitation is active.

Bits 12,13

These bits are operation mode specific. The description is in the chapter of the special mode.

Bits 14,15

These bits may be used by a drive manufacturer to implement any manufacturer specific functionality.

Bit6, Bit5, Bit3, Bit2, Bit1, Bit0

These bits indicate the status of the device:

State	Bit6	Bit5	Bit3	Bit2	Bit1	Bit0
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	1	1	1
Fault Reaction Active	0	X	1	1	1	1
Quick Stop Active	0	0	0	1	1	1

Statusword for commands:

Statusword for Interpolated Position Mode (ip)

Statusword for Profile Position Mode (pp)

Statusword for Homing Mode (hm)

Statusword for Profile Velocity Mode (pv)

Statusword for Cyclic Synchronous Position Mode (csp)

Statusword for Cyclic Synchronous Velocity Mode (csv)

Statusword for Velocity Mode (vl)

Statusword for Profile Torque Mode (tq)

Statusword for Cyclic Synchronous Torque Mode (cst)

Statusword for Feedback Sensor Calibration Mode (fsc)

Statusword for Interpolated Position Mode (ip)

15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
Manuf. specific		Operation mode specific		Internal limit active	Target reached	Remote	Manuf. specific	Warning	Switch on disabled	Quick stop	Voltage enabled	Fault	Operation enabled	Switchedon	Ready to switch on
O		O		M	M	M	O	O	M	M	M	M	M	M	M
X	X	reserved	Ip mode active	X	Target reached	X	X	X	X	X	X	X	X	X	X

Bit	Name		Description
10	Target reached	0	Halt = 0 : Position not (yet) reached Halt = 1 : Motor in deceleration
10	Target reached	1	Halt = 0 : Position reached Halt = 1 : Motor speed zero
12	Ip mode active	0	Interpolated position mode inactive
12	Ip mode active	1	Interpolated position mode active

Statusword for Profile Position Mode (pp)

15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
Manuf. specific		Operation mode specific		Internal limit active	Target reached	Remote	Manuf. specific	Warning	Switch on disabled	Quick stop	Voltage enabled	Fault	Operation enabled	Switched on	Ready to switch on
O		O		M	M	M	O	O	M	M	M	M	M	M	M
X	X	Following error	Set-point acknowledge	X	Target reached	X	X	X	X	X	X	X	X	X	X

Bit	Name	Value	Description
10	Target reached	0	Halt = 0 : Target Position not reached Halt = 1 : Axle decelerates
10	Target reached	1	Halt = 0 : Target Position reached Halt = 1 : Velocity of axle is 0
12	Set-point acknowledge	0	Trajectory generator has not assumed the positioning values (yet)
12	Set-point acknowledge	1	Trajectory generator has assumed the positioning values
13	Following error	0	No following error
13	Following error	1	Following error

Statusword for Homing Mode (hm)

15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
Manuf. specific		Operation mode specific		Internal limit active	Target reached	Remote	Manuf. specific	Warning	Switch on disabled	Quick stop	Voltageenabled	Fault	Operation enabled	Switched on	Ready to switch on
O		O		M	M	M	O	O	M	M	M	M	M	M	M
X	X	Homing error	Homing attained	X	Target reached	X	X	X	X	X	X	X	X	X	X

Bit	Name	Value	Description
10	Target reached	0	Halt = 0 : Homing position not reached Halt = 1 : Axle decelerates
10	Target reached	1	Halt = 0 : Homing position reached Halt = 1 : Velocity of axle is 0
12	Homing attained	0	Homing mode not yet completed
12	Homing attained	1	Homing mode carried out successfully
13	Homing error	0	No Homing error
13	Homing error	1	Homing error occurred. Homing mode carried out not successfully. The error cause is found by reading the error code.

Statusword for Profile Velocity Mode (pv)

15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
Manuf. specific		Operation mode specific		Internal limit active	Target reached	Remote	Manuf. specific	Warning	Switch on disabled	Quick stop	Voltage enabled	Fault	Operation enabled	Switched on	Ready to switch on
O		O		M	M	M	O	O	M	M	M	M	M	M	M
X	X	Max slippage error	Speed	X	Target reached	X	X	X	X	X	X	X	X	X	X

Bit	Name	Value	Description
10	Target reached	0	Halt = 0: Target Velocity not (yet) reached Halt = 1: Axle decelerates
10	Target reached	1	Halt = 0: Target Velocity reached Halt = 1: Velocity of axle is 0
12	Speed	0	Not supported
12	Speed	1	Not supported
13	Max slippage error	0	Not supported
13	Max slippage error	1	Not supported

Statusword for Cyclic Synchronous Position Mode (csp)

15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
Manuf. specific		Operation mode specific		Internal limit active	Target reached	Remote	Manuf. specific	Warning	Switch on disabled	Quick stop	Voltage enabled	Fault	Operation enabled	Switched on	Ready to switch on
O		O		M	M	M	O	O	M	M	M	M	M	M	M
X	X	Following Error	Target Position Ignored	X	Reserv.	X	X	X	X	X	X	X	X	X	X

Bit	Name	Value	Description
10	Reserved	0	Reserved
10	Reserved	1	Reserved
12	Target Position Ignored	0	Target position ignored
12	Target Position Ignored	1	Target position shall be used as input to position control loop
13	Following Error	0	No following error
13	Following Error	1	Following error

Statusword for Cyclic Synchronous Velocity Mode (csv)

15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
Manuf. specific		Operation mode specific		Internal limit active	Target reached	Remote	Manuf. specific	Warning	Switch on disabled	Quick stop	Voltage enabled	Fault	Operation enabled	Switched on	Ready to switch on
O		O		M	M	M	O	O	M	M	M	M	M	M	M
X	X	Reserv.	Target Velocity Ignored	X	Reserv.	X	X	X	X	X	X	X	X	X	X

Bit	Name	Value	Description
10	Reserved	0	Reserved
10	Reserved	1	Reserved
12	Target Velocity Ignored	0	Target velocity ignored
12	Target Velocity Ignored	1	Target velocity shall be used as input to velocity control loop
13	Reserved	0	Reserved
13	Reserved	1	Reserved

Statusword for Velocity Mode (vl)

15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
Manuf. specific		Operation mode specific		Internal limit active	Target reached	Remote	Manuf. specific	Warning	Switch on disabled	Quickstop	Voltageenabled	Fault	Operationenabled	Switchedon	Ready to switch on
O		O		M	M	M	O	O	M	M	M	M	M	M	M
X	X	reserved	reserved	X	reserved	X	X	X	X	X	X	X	X	X	X

Statusword for Profile Torque Mode (tq)

15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
Manuf. specific		Operation mode specific		Internal limit active	Target reached	Remote	Manuf. specific	Warning	Switch on disabled	Quick stop	Voltage enabled	Fault	Operationenabled	Switched on	Ready to switch on
O		O		M	M	M	O	O	M	M	M	M	M	M	M
X	X	reserved	reserved	X	Target reached	X	X	X	X	X	X	X	X	X	X

Bit	Name	Value	Description
10	Target reached	0	Halt (bit8 Controlword) = 0; Target torque not reached Halt (bit8 Controlword) = 1; Axis decelerates
1	Halt (bit8 Controlword) = 0; Target torque reached Halt (bit8 Controlword) = 1; Velocity of axis is 0

Bit

Name

Value

Description

Target reached

Halt (bit8 Controlword) = 0; Target torque not reached

Halt (bit8 Controlword) = 1; Axis decelerates

Halt (bit8 Controlword) = 0; Target torque reached

Halt (bit8 Controlword) = 1; Velocity of axis is 0

Statusword for Cyclic Synchronous Torque Mode (cst)

15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
Manuf. specific		Operation mode specific		Internal limit active	Target reached	Remote	Manuf. specific	Warning	Switch on disabled	Quick stop	Voltage enabled	Fault	Operation enabled	Switched on	Ready to switch on
O		O		M	M	M	O	O	M	M	M	M	M	M	M
X	X	reserved	Drive follows the command value	X	reserved	X	X	X	X	X	X	X	X	X	X

Bit	Name	Value	Description
12	Drive follows the command value	0	Drive does not follow the command value – Target torque ignored
12	Drive follows the command value	1	Drive follows the command value – Target torque used as input to control loop

Statusword for Feedback Sensor Calibration Mode (fsc)

15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
Manuf. specific	Operation mode specific	Internal limit active	Target reached	Remote	Manuf. specific	Warning	Switch on disabled	Quick stop	Voltage enabled	Fault	Operation enabled	Switched on	Ready to switch on
O	O	M	M	M	O	O	M	M	M	M	M	M	M
X	Calibration Error	Calibration attained	Calibration in progress	X	reserved	X	X	X	X	X	X	X	X	X	X

Manuf.

specific

Operation mode specific

Internal limit active

Target reached

Remote

Manuf. specific

Warning

Switch on disabled

Quick stop

Voltage enabled

Fault

Operation enabled

Switched on

Ready to switch on

Calibration Error

Calibration attained

Calibration in progress

reserved

Bit	Name	Value	Description
12	Calibration in progress	0	Feedback Sensor Calibration procedure not active
12	Calibration in progress	1	Feedback Sensor Calibration procedure is in progress
13	Calibration attained	0	Feedback Sensor Calibration procedure not attained
13	Calibration attained	1	Feedback Sensor Calibration attained
14	Calibration error	0	Feedback Sensor Calibration procedure not active or in progress or not yet attained
14	Calibration error	1	Feedback Sensor Calibration Error