0x6041 - Statusword

Index

Sub Index

Name

Data Type

Acc.

Pdo Map.

NVM

Value range

Default value

Units

0x6041

0x00

Statusword

UINT16

RO

Yes

No

UINT16

-

-

The statusword is used to:

  • Find out the current controller status.
  • Find out the operation mode status.

By default, emcl controller automatically notifies through RS232 interface about any modification that occurs in the Statusword, without requiring any prior consultation. See Statusword mode on object UART configuration for further information.

Data description:

The following use is given to each statusword bit:

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

9

Remote

10

Target reached

11

Internal limit active

12-13

Operation mode specific

14

Initial angle determination process finished

15

Reserved

Bits 0-3, 5 and 6 indicate the device status. 

The mode specific bits are defined in the corresponding section:

Bit 11 indicates if an internal drive limitation in motion is being applied. This limit implies that the drive is taking control of the motor in, for example, limiting movements in one direction when a switch limit is pressed. Internal limit can be activated by Stop manager, but also in Velocity mode when target velocity is out of defined limits.

Bit 14 indicates if the initial angle determination process necessary for BLAC has been completed correctly. 

The connection between status and value in these bits is shown below.

Value (binary)

Status

xxxx xxxx x0xx 0000

Not ready to switch on

xxxx xxxx x1xx 0000

Switch on disabled

xxxx xxxx x01x 0001

Ready to switch on

xxxx xxxx x01x 0011

Switched on

xxxx xxxx x01x 0111

Operation enabled

xxxx xxxx x00x 0111

Quick stop active

xxxx xxxx x0xx 1111

Fault reaction active

xxxx xxxx x0xx 1000

Fault

Note that the Quick stop bit is activated at a low level.