Chapter 6 Object Dictionary Entries
ASDA A2-E
6-12
Revision April, 2015
Object 6041
h
: Statusword
INDEX 6041
h
Name Statusword
Object Code
VAR
Data Type
UNSIGNED16
Access RO
PDO Mapping
Yes
Value Range
UNSIGNED16
Default Value
0
Data Description
15 14 13 12
11 10 9
8
7
6
5
4
3 2 1
0
MSB
LSB
Bit Definition
0
Ready to switch on
1 Switch
on
2
Operation enabled (status of servo on)
3
Fault (the drive will servo off)
4 Voltage
enabled
5 Quick
stop
6
Switch on disabled
7
Warning (the drive is still servo on)
8 N/A
9 Remote
10 Target
reached
11
Internal limit active (Not supported)
PP
HM
IP
PV
PT
12
Set-point
acknowledge
Homing
attained
IP mode active
Zero Speed
N/A
13 Following error
Homing error
N/A
N/A
N/A
14
N/A N/A N/A N/A
N/A
15
N/A N/A N/A N/A
N/A
Note:
Set-point acknowledge: Trajectory generator has assumed the positioning values
Homing attained: Homing mode carried out successfully
IP mode active: interpolated position mode active – mode is running in IP mode
