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EtherCAT Mode
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ASDA-A3
Object 6041h: Statusword
13
Index
Name
Object code
Data type
Access
PDO mapping
Setting range
Default
6041h
Statusword
VAR
UNSIGNED16
RO
Yes
UNSIGNED16
0
Object function:
The Statusword contains many statuses, such as Servo On, command statuses, fault signal,
and quick stop. The state machine architecture is as follows:
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Bit
Bit 0
Bit 1
Bit 2
Bit 3
Bit 4
Bit 5
Bit 6
Bit 7
Bit 8
Bit 9
Bit 10
Bit 11
Bit 12 - Bit 13
Bit 14
Bit 15
Status
Ready to switch on Ready to be activated
Switched on
Servo ready
Operation enabled Servo On
Fault
Fault signal
Voltage enabled Servo is powered on
Quick stop
Quick stop
Switch on disabled Servo disabled
Warning
Warning signal
Reserved
Remote
Target reached
Reserved
-
Remote control
Target reached
-
-
-
Positive limit
Negative limit
Positive limit
Negative limit
Description
Bit 0 - Bit 6: current status of the
servo drive (see the following
table for details).
When outputting the warning
signal, the servo keeps outputting
the Servo On signal.
-
-
-
-
These bits are individually defined
according to the operation mode,
as shown in the following table.
-
-
Bit 0 - Bit 6: current status of the servo drive.
Bit 6
0
1
0
0
0
0
0
0
Bit 5
-
-
1
1
1
0
-
-
Bit 4
-
-
-
-
-
-
-
-
Bit 3
0
0
0
0
0
0
1
1
Bit 2
0
0
0
0
1
1
1
0
Bit 1
0
0
0
1
1
1
1
0
Bit 0
Description
0 Not ready to switch on.
0 Switch on disabled.
1 Ready to switch on.
1 Switched on.
1 Operation enabled (Servo On).
1 Quick stop active.
1 Fault reaction active.
0 Servo fault (servo switches to Servo Off).
Note: 0 indicates the bit is off, 1 indicates the bit is on, and - indicates the bit is invalid.
13-58
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Call +1(800)985-6929 To Order or Order Online At Deltaacdrives.com