6041h Statusword
Function
This object returns information about the status of the CiA 402 Power State Machine.
Object description
Index | 6041h |
Object name | Statusword |
Object Code | VARIABLE |
Data type | UNSIGNED16 |
Savable | no |
Access | read only |
PDO mapping | TX-PDO |
Allowed values | |
Preset value | 0000h |
Firmware version | FIR-v1426 |
Change history |
Description
Parts of the object are, with respect to function, dependent on the currently selected mode. Refer to the corresponding section in chapter operating modes.
- RTSO (Ready To Switch On)
- Value = "1": Controller is in the "Ready to switch on" state
- SO (Switched On)
- Value = "1": Controller is in the "Switched on" state
- OE (Operation Enabled)
- Value = "1": Controller is in the "Operation enabled" state
- FAULT
- Error occurred (see 1003h)
- VE (Voltage Enabled)
- Voltage applied
- QS (Quick Stop)
- Value = "0": Controller is in the "Quick stop" state
- SOD (Switched On Disabled)
- Value = "1": Controller is in the "Switched on disabled" state
- WARN (Warning)
- Value = "1": Warning
- SYNC (synchronization)
- Value = "1": Controller is in sync with the fieldbus; value = "0": Controller is not in sync with the fieldbus
- REM (Remote)
- Remote (value of the bit is always "1" unless the special drive modes are activated )
- TARG
- Target reached
- ILA (Internal Limit Active)
- Limit exceeded
- OMS (Operation Mode Specific)
- Meaning is dependent on the selected operating mode
- CLA (Closed Loop Active)
- Value = "1": The controller is in the Operation enabled state and the Closed-Loop is activated.
Listed in the following table are the bit masks that break down the state of the controller.
Statusword (6041h) | State |
---|---|
xxxx xxxx x0xx 0000 | Not ready to switch on |
xxxx xxxx x1xx 0000 | Switch on disabled |
xxxx xxxx x01x 0001 | Ready to switch on |
xxxx xxxx x01x 0011 | Switched on |
xxxx xxxx x01x 0111 | Operation enabled |
xxxx xxxx x00x 0111 | Quick stop active |
xxxx xxxx x0xx 1111 | Fault reaction active |
xxxx xxxx x0xx 1000 | Fault |