Delta ASDA-B3 Series, Руководство пользователя

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ASDA-B3 CANopen Mode
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11
Object 6041h: Statusword
Index 6041h
Name Statusword
Object code VAR
Data type UNSIGNED16
Access RO
PDO mapping Yes
Setting range UNSIGNED16
Corresponding servo
parameter
N/A
Default 0
Object function:
The control command contains many functions, such as Servo on, command triggering,
fault reset, and emergency stop. The state machine architecture is as follows:
15 14 13 12 11 10 9 8
Bit
7 6 5 4 3 2 1 0
Bit Function Description
Bit 0 Ready to switch on
Bit 0 - Bit 6: current status of the servo drive
(see the following table for details).
Bit 1 Switch on
Bit 2 Operation enabled
Bit 3 Fault
Bit 4 Voltage enabled
Bit 5 Quick stop
Bit 6 Switch on disabled
Bit 7 Warning
Warning output, but the servo remains with the
servo on signal.
Bit 8 - -
Bit 9 Remote -
Bit 10 Target reached -
Bit 11 - -
Bit 12 - Bit 13 - Individually defined according to the control mode.
Bit 14 Positive limit -
Bit 15 Negative limit -
Bit 0 - Bit 6: current status of the servo drive.
Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Description
0 - - 0 0 0 0 Not ready to switch on.
1 - - 0 0 0 0 Switch on disabled.
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 (servo on).
0 0 - 0 1 1 1 Quick stop active.
0 - - 1 1 1 1 Fault reaction active.
0 - - 1 0 0 0 Servo fault (servo off).
Note: 0 indicates the bit is off; 1 indicates the bit is on; - indicates the bit is invalid.