Danaher Motion 07/06 Objects
M-S2-021-11 Initial Release 65
6. 34 SDO 6041H: STATUSWORD (DS402)
The momentary state of the status machine can be read out with the aid of the status word.
Index 6041
h
Name
Status word
Object code
VAR
Data type
UNSIGNED16
Mode
all
Access
rw
PDO mapping
possible
Unit
—
Value range
0 ... 65535
EEPROM
yes
Default value
0
Bit assignment in the status word
Bit Name Bit Name
0 Ready to switch on
8 Manufacturer-specific (reserved)
1 Switched on 9 Remote (always 1)
2 Operation enable 10 Target reached
3 Fault 11 Internal limit active (in preparation)
4 Voltage enabled 12 Operation mode specific (reserved)
5 Quick stop 13 Operation mode specific (reserved)
6 Switch on disabled 14 Manufacturer-specific (reserved)
7 Warning 15 Manufacturer-specific (reserved)
States of the status machine
State
Bit 6 switch
on disable
Bit 5 Quick
stop
Bit 3
fault
Bit 2 operation
enable
Bit 1
switched on
Bit 0 ready to
switch on
Not ready to switch on 0 X 0 0 0 0
Switch on disabled 1 X 0 0 0 0
Ready to switch on 0 1 0 0 0 1
Switched on 0 1 0 0 1 1
Operation enabled 0 1 0 1 1 1
Fault 0 X 1 0 0 0
Fault reaction active 0 X 1 1 1 1
Quick stop active 0 0 0 1 1 1
Bits marked by X are irrelevant
Description of the remaining bits in the status word
Bit 4: voltage_enabled The DC-link voltage is present if this bit is set.
Bit 7: warning There are several possible reasons for Bit 7 being set and this warning being
produced. The reason for this warning can be revealed by using the SDO 20subindex
manufacturer warnings.
Bit 9: remote is always set to 1, i.e. the drive can always communicate and be influenced via the
RS232 - interface.
Bit 10: target_reached This is set when the drive has reached the target position.
Bit 11: internal_limit_active is not supported at present
