Delta ASDA-A3 Series User Manual page 713

CANopen Mode
Object 6041h: Statusword
Index
Name
12
Object code
Data format
Access
PDO mapping
Setting range
Corresponding servo
parameter
Default
Object function:
The control command contains many functions, such as Servo on, command triggering,
fault reset, and emergency stop. The state machine architecture is as follows:
15
Bit
Bit 12 - Bit 13
Bit 0 - Bit 6: current status of the servo drive.
Bit 6
0
1
0
0
0
0
0
0
Note: 0: bit is off; 1: bit is on; -: N/A.
12-52
12
14 13 11
Bit Function
Bit 0 Ready to switch on
Bit 1 Switch on
Bit 2 Operation enabled
Bit 3 Fault
Bit 4 Voltage enabled
Bit 5 Quick stop
Bit 6 Switch on disabled
Bit 7 Warning
Bit 8 -
Bit 9 Remote
Bit 10 Target reached
Bit 11 -
-
Bit 14 Positive limit
Bit 15 Negative limit
Bit 5 Bit 4 Bit 3 Bit 2
- - 0
- - 0
1 - 0
1 - 0
1 - 0
0 - 0
- - 1
- - 1
6041h
Statusword
VAR
UNSIGNED16
RO
Yes
UNSIGNED16
N/A
0
10 9 8 7 6
Bit 0 - Bit 6: current status of the servo drive
(see the following table for details).
Warning output, but the servo remains with the
servo on signal.
-
-
-
-
Individually defined according to the control mode.
-
-
Bit 1 Bit 0
0 0 0 Not ready to switch on.
0 0 0 Switch on disabled.
0 0 1 Ready to switch on.
0 1 1 Switch on.
1 1 1 Operation enabled (servo on).
1 1 1 Quick stop active.
1 1 1 Fault reaction active.
0 0 0 Servo fault (servo off).
4
5 3 2 1
Description
Description
ASDA-A3
0