6. MODBUS REGISTERS
6 - 35
6.4 Object library details (objects in the 6000s)
POINT
This section describes the objects in the 6000s. Refer to section 6.1 for details
on the objects not listed here.
6.4.1 Control status (6041h)
Address Name
Data
type
Read/
write
No. of Points/
No. of Registers
Continuous read/
continuous write
6041h
Control status (Statusword)
2 bytes Reading
1
Impossible
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.
Bit Description
0
Ready To Switch On
1 Switched
On
2 Operation
Enabled
3 Fault
4 Voltage
Enabled
5 Quick
Stop
6
Switch On Disabled
7 Warning
8
Reserved (Note 2)
9
Reserved (Note 2)
10
Target reached (Note 1)
11
Internal Limit Active
12 to 13 Operation Mode Specific (Note 1)
14 to 15 Reserved (Note 2)
Note 1. The description changes depending on the control mode.
2. 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
(Note)
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)
Note. Not supported in the position control mode, speed control mode, and torque control mode.
Bit 11 turns on when the stroke limit, software limit, or positioning command is outside the range.
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