Status Words (Statuswords) - Festo CiA 402 Manual

5 Device Control
5.1.5

Status words (statuswords)

Object 6041 : statusword
h
Index
Name
Object Code
Data Type
Access
PDO Mapping
Units
Value Range
Default Value
Bit Value
0 0001
h
1 0002
h
2 0004
h
3 0008
h
4 0010
h
5 0020
h
6 0040
h
7 0080
h
8 0100
h
9 0200
h
10 0400
h
11 0800
h
12 1000
h
13 2000
h
14 4000
h
15 8000
h
Tab. 5.7 Bit allocation in the status word
All bits of the statusword are unbuffered. They represent the current device status.
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
6041
h
statusword
VAR
UINT16
ro
yes
–
–
–
Function
Status of the motor controller (
These bits must be evaluated together.
voltage_enabled
Status of the motor controller (
warning
drive_is_moving
remote
target_reached
internal_limit_active
set_point_acknowledge/speed_0/homing_attained/ip_mode_active
following_error/homing_error
reserved
Drive referenced
Tab. 5.6).
Tab. 5.6).
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