Mitsubishi Electric MR-J4-_GF Instruction Manual page 57

5. CiA 402 DRIVE PROFILE
(2) Statusword (6041h)
Sub
Index Access
Index
6041h 0
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 Symbol
0 RTSO
1 SO
2 OE
3 F
4 VE
5 QS
6 SOD
7 W
8
9 RM
10 TR
11 ILA
12 to 13 OMS
14 to 15
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
Bit 11 turns on when the stroke limit, software limit, or positioning command is outside the range.
ro Statusword
Ready To Switch On
Switched On
Operation Enabled
Fault
Voltage-enabled
0: The bus voltage is lower than the certain (RA) level.
1: The bus voltage is equal to or higher than the certain level.
Quick stop
0: During a quick stop
1: Not during a quick stop (including in the test mode)
Switch On Disabled
Warning
0: No warning has occurred.
1: A warning is occurring.
Reserved
The value at reading is undefined.
Reserved
The value at reading is undefined.
Target reached
Differs depending on Modes of operation (6060h). (Refer to chapter 6.)
Internal limit active
0: The forward rotation stroke end, reverse rotation stroke end, and software position limit have
not been reached.
1: The forward rotation stroke end, reverse rotation stroke end, or software position limit has been
reached (Enabled in the pt, idx, jg, or hm mode).
Operation Mode Specific
Differs depending on Modes of operation (6060h). (Refer to chapter 6.)
Reserved
The value at reading is undefined.
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
5 - 4
Data
Type
U16
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
1 Fault reaction active
0 Fault
Main power on (power input on)
Warning (warning occurrence)
Default