Mitsubishi Electric MR-JE-C, Instruction Manual

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5. CiA 402 DRIVE PROFILE
5 - 4
(2) Statusword (6041h)
Index Sub Index Access Name Data type Default
6041h 0 ro Statusword U16
The current control status can be checked.
The following table lists the bits of this object/register. The status can be checked with bit 0 to bit 7.
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: No during a quick stop (including during 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). (Refer to chapter 6 to chapter 9.)
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 pp, pv, or hm mode).
12 to 13 OMS
Operation Mode Specific
Differs depending on Modes of operation (6060h). (Refer to chapter 6 to chapter 9.)
14 to 15 Reserved The value at reading is undefined.
The following table lists the servo amplifier statuses that can be read with bit 0 to bit 7.
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)
Bit 11 turns on when the stroke limit, software limit, or positioning command is outside the range.