5 CiA 402 DRIVE PROFILE
5.1 State machine control of the servo amplifier
59
5
Statusword (6041h)
The current control status can be checked.
The following table lists the bits of this object. The status can be checked with bit 0 to bit 7.
The following table lists the servo amplifier statuses that can be read with bit 0 to bit 7.
Bit 11 turns on when the stroke limit, software limit, or positioning command is outside the range.
Index
Sub Index
Access
Name
Data Type
Default
6041h
0
ro
Statusword
U16
Bit
Symbol
Description
0
RTSO
Ready To Switch On
1
SO
Switched On
2
OE
Operation Enabled
3
F
Fault
4
VE
Voltage-enabled
0: The bus voltage is lower than the certain (RA) level.
1: The bus voltage is equal to or higher than the certain level.
5
QS
Quick stop
0: During a quick stop
1: Not during a quick stop (including in the test mode)
6
SOD
Switch On Disabled
7
W
Warning
0: No warning has occurred.
1: A warning is occurring.
8
Reserved
The value at reading is undefined.
9
RM
Reserved
The value at reading is undefined.
10
TR
Target reached
Differs depending on Modes of operation (6060h). (
11
ILA
Internal limit active
0: The forward rotation stroke end, reverse rotation stroke end, and software position
limit have not been reached.
1: The forward rotation stroke end, reverse rotation stroke end, or software position
limit has been reached (Enabled in the pt, idx, jg, or hm mode).
12 to 13
OMS
Operation Mode Specific
Differs depending on Modes of operation (6060h). (
14 to 15
Reserved
The value at reading is undefined.
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Status
0
0
0
0
0
Not ready to switch on
1
0
0
0
0
Switch on disable
0
1
0
0
0
1
Ready to switch on
0
1
0
0
1
1
Switch on
0
1
0
1
1
1
Operation enabled
0
0
0
1
1
1
Quick stop active
0
1
1
1
1
Fault reaction active
0
1
0
0
0
Fault
1
Main power on (power input on)
1
Warning (warning occurrence)
