YASKAWA SGD7S-120D, Product Manual

Page: 454 / 603

14.6 Device Control
14-23
14
Object Dictionary
Statusword (6041 Hex)
Statusword contains the bits that give the current state of the Servo Drive and the operating
state of the operation mode.

Statusword Bits

Details on Bits 0 to 7
•
Bits 0 to 7: Current State of Servo Drive

Details on Bit 11
•
Bit 11: Internal limit active
The internal limit is activated in the following cases:
•
The target position was limited by a software limit.
•
The N-OT or P-OT signal was activated.
•
The interpolation speed was exceeded in Interpolated Position Mode or Cyclic Position
Mode.
If the interpolated reference speed exceeds the following speed range, the target position will
be ignored.
Index
Subin-
dex
Name
Data
Type
Access
PDO
Mapping
Value
Saving to
EEPROM
6041 hex 0 Statusword UINT RO Yes 0 No
Bit State Description
0 Ready to switch on
Refer to

Details on Bits 0 to 7 .
1 Switched on
2 Operation enabled
3 Fault
4 Voltage enabled
5 Quick stop
6 Switch on disabled
7 Warning
8 Active mode stop 1: Active mode function execution is in progress.
9 Remote Controlword (6040 hex) is being processed
10 Operation mode specific Refer to

Details on Bits 10, 12, and 13 .
11 Internal limit active Refer to

Details on Bit 11 .
12, 13 Operation mode specific Refer to

Details on Bits 10, 12, and 13 .
14 Torque limit active
0: Torque limit is disabled.
1: Torque limit is enabled.
15 Safety active 1: Safety function is active.
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Servo Drive State
X 0 X X 0 0 0 0 Not ready to switch on
X 1 X X 0 0 0 0 Switch on disabled
X 0 1 X 0 0 0 1 Ready to switch on
X 0 1 X 0 0 1 1 Switched on
X 0 1 X 0 1 1 1 Operation enabled
X 0 0 X 0 1 1 1 Quick stop active
X 0 X X 1 1 1 1 Fault reaction active
X 0 X X 1 0 0 0 Fault
X X X 1 X X X X Main power on
1 X X X X X X X Warning occurred
(Target position – position demand value)
×
(2701 hex: 01)/(2701 hex: 02)
Interpolation time period
< 4,194,304 [inc/ms]