YASKAWA SGD7S-1R9D Product Manual page 454

Statusword (6041 Hex)
Statusword contains the bits that give the current state of the Servo Drive and the operating
state of the operation mode.
Subin-
Index
dex
6041 hex 0 Statusword
 Statusword Bits
Bit State
0 Ready to switch on
1 Switched on
2 Operation enabled
3 Fault
4 Voltage enabled
5 Quick stop
6 Switch on disabled
7 Warning
8 Active mode stop
9 Remote
10 Operation mode specific
11 Internal limit active
12, 13 Operation mode specific
14 Torque limit active
15 Safety active
 Details on Bits 0 to 7
• Bits 0 to 7: Current State of Servo Drive
Bit 7 Bit 6 Bit 5
X 0 X
X 1 X
X 0 1
X 0 1
X 0 1
X 0 0
X 0 X
X 0 X
X X X
1 X X
 Details on Bit 11
• Bit 11: Internal limit active
The internal limit is activated in the following cases:
• The target position was limited by a software limit.
• The N-OT or P-OT signal was activated.
• The interpolation speed was exceeded in Interpolated Position Mode or Cyclic Position
Mode.
If the interpolated reference speed exceeds the following speed range, the target position will
be ignored.
(Target position – position demand value) × (2701 hex: 01)/(2701 hex: 02)
Interpolation time period
Data
Name Access
Type
UINT

Refer to
1: Active mode function execution is in progress.
Controlword (6040 hex) is being processed

Refer to

Refer to

Refer to
0: Torque limit is disabled.
1: Torque limit is enabled.
1: Safety function is active.
Bit 4 Bit 3 Bit 2
X 0 0
X 0 0
X 0 0
X 0 0
X 0 1
X 0 1
X 1 1
X 1 0
1 X X
X X X
PDO
Value
Mapping
RO Yes
Description
Details on Bits 0 to 7.
Details on Bits 10, 12, and 13.
Details on Bit 11.
Details on Bits 10, 12, and 13.
Bit 1 Bit 0 Servo Drive State
0 0 Not ready to switch on
0 0 Switch on disabled
0 1 Ready to switch on
1 1 Switched on
1 1 Operation enabled
1 1 Quick stop active
1 1 Fault reaction active
0 0 Fault
X X Main power on
X X Warning occurred
< 4,194,304 [inc/ms]
14.6 Device Control
Saving to
EEPROM
0 No
14-23
14