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29Part 2: DSP-402 Implementation
Object 6041
h
— Statusword
The Statusword is a read-only object that indicates the current state of the drive, no bits are latched. Statusword consists of
bits for:
The current state of the drive.
The operating state of the mode.
Manufacturer Specific options.
Object Description
Index
6041
h
Name
Statusword
Object Code
VAR
Data Type
Unsigned16
Entry Description
Access
ro
PDO Mapping
n/a
Range
Unsigned16
Default
n/a
Data Description
Bits 0-3 and 5-6
The following bits indicate the status of the MDrivePlus CANopen.
Status
Bit of Statusword (6041h)
5 6 4* 3 2 1 0
Not Ready to Switch On 0 X X 0 0 0 0
Switch On Disabled 1 X X 0 0 0 0
Ready to Switch On 0 1 X 0 0 0 1
Switched On 0 1 X 0 0 1 1
Operation Enabled 0 1 X 0 1 1 1
Quick Stop Active 0 0 X 0 1 1 1
Fault Reaction Active 0 X X 1 1 1 1
Fault 0 X X 0 0 0 0
X=Irrelevant Bit State, *Bit 4 shown for illustration purpose only.
Table 4.5: Device State Bits for Statusword
Statusword (6041
h
) Bits
LSB
MSB
Ready to S
witch O
n
Switched On
Opera
tion Enabled
Fault
Vo
ltage Enabled
Quick Stop Active
Switch On Disabled
Warnin
g
Manufacturer Specific
Manufacturer Specific
Manufacturer Specific
Remote
Target R
eache
d
Internal Limit Activ
e
Ope
ra
tion Mode Specific
Ope
ra
tion Mode Specific
0
M
15
O
14
O
12
O
11
M
10
M
9
M
8
O
7
O
6
M
5
M
4
M
3
M
2
M
1
M
13
O
Figure 4.3: Statusword Bits