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SM-EtherCAT User Guide 29
Issue Number: 2 www.controltechniques.com
Safety
Information
Introduction
Mechanical
Installation
Electrical
Installation
Getting Started Protocols
Drive profile (DSP-402)
support
Advanced
features
Diagnostics
Quick
Reference
Glossary Of
Terms
Index
7.2 0x6041 Statusword
This provides feedback about the current operating state of the drive. Table 7.4
describes the format of the status word and illustrates how the individual statusword bits
are combined to represent the current state of the drive.
LEGEND: ms = manufacturer-specific; ha = homing attained; oms = operation mode specific; ila =
internal limit active; tr = target reached; rm = remote; w = warning; sod = switch on disabled; qs =
quick stop; ve = voltage enabled; f = fault; oe = operation enabled; so = switched on; rtso = ready to
switch on
7.3 Common profile features
7.3.1 Sequencing control
These are the supported objects used to control the drive:
Table 7.4 Statusword
0x6041 Statusword
Access: RW Range: 0 to 65535 Size: Unsigned 16 Unit: N/A
Default: N/A
Description: This provides feedback about the current operating state of the drive.
Table 7.5 Statusword bit functions
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
ms ha lla tr rm ms w sod qs ve f oe so rtso
Table 7.6 State coding
Statusword State
xxxx xxxx x0xx 0000b Not ready to switch on
xxxx xxxx x1xx 0000b Switch on disabled
xxxx xxxx x01x 0001b Ready to switch on
xxxx xxxx x01x 0011b Switched on
xxxx xxxx x01x 0111b Operation enabled
xxxx xxxx x00x 0111b Quick stop active
xxxx xxxx x0xx 1111b Fault reaction active
xxxx xxxx x0xx 1000b Fault
Table 7.7 Sequencing control supported objects
Index Name
0x6040 controlword
0x6041 statusword
0x605B shutdown_option_code
0x605C disable_operation_option_code
0x605A quick_stop_option_code
0x605D halt_option_code
0x605E fault_reaction_option_code
0x6060 modes_of_operation
0x6061 modes_of_operation_display
0x6085 quick_stop_deceleration