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7. OBJECT LIBRARY
7.4 Object library details (objects in the 6000s)
7.4.1 Control status (6041h)
The current control status can be checked.
The following table lists the bits of this object. The status can be checked with bit 0 to bit 7.
Bit
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
Reserved (Note 2)
9
Reserved (Note 2)
10
Target reached (Note 1)
11
Internal Limit Active
12 to 13
Operation Mode Specific (Note 1)
14 to 15
Reserved (Note 2)
Note 1. The description changes depending on the control mode.
2. The value at reading is undefined.
The following table lists the servo amplifier statuses that can be read with bit 0 to bit 7.
Bit 7
Bit 6
0
1
0
0
0
0
0
0
1
Note. Not supported in the position control mode, speed control mode, and torque control mode.
Bit 11 turns on when the stroke limit, software limit, or positioning command is outside the range.
POINT
This section describes the objects in the 6000s. Refer to section 7.1 for details
on the objects not listed here.
Sub
Index
Index
6041h
0
Control status (Statusword)
Bit 5
Bit 4
Bit 3
0
0
1
0
1
0
1
0
0
0
1
1
1
Name
Description
Bit 2
Bit 1
0
0
0
0
0
0
0
1
1
1
1
1
1
1
0
0
7 - 34
Data
type
2 bytes Reading
Bit 0
Status
0
Not ready to switch on
0
Switch on disable
1
Ready to switch on
1
Switch on
1
Operation enabled
1
Quick stop active (Note)
1
Fault reaction active
0
Fault
Main power on (power input on)
Warning (warning occurrence)
Read/
write
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