Object 6041H: Status Word (Ds402) - Kollmorgen S300 Manual

S300-S700 CANopen | 5 CANopen Drive Profile

5.4.2.2 Object 6041h: Status word (DS402)

The current state of the state machine can be read out with the aid of the status word.
Index
Name
Object code
Data type
Access
PDO mapping
Unit
Value range
EEPROM
Default value
Bit assignment in the status word
Bit Name
0
1
2
3
4
5
6
7
States of the state machine
State
Not ready to switch on
Switch on disabled
Ready to switch on
Switched on
Operation enabled
Fault
Fault reaction active
Quick stop active
Bits marked by X are irrelevant
Description of the remaining bits in the status word
Bit 4: voltage_enabled: The DC-link voltage is present if this bit is set.
Bit 7: warning: There are several possible reasons for Bit 7 being set and this warning being pro-
duced. The reason for this warning can be revealed by using the Object 20subindex manufacturer
warnings.
Bit 9:remote: is always set to 1, i.e. the drive can always communicate and be influenced via the
RS232 - interface.
Bit 10: target_reached: This is set when the drive has reached the target position.
Bit 11: internal_limit_active: This bit specifies that a movement was or is limited. In different
modes, different warnings cause the bit to be set. The following assignments exist:
Mode of operation
all
0x1 (PP), 0x88
60 Kollmorgen | kdn.kollmorgen.com | December 2019
6041h
Status word
VAR
UNSIGNED16
rw
possible
—
0 to 65535
yes
0
Ready to switch on
Switched on
Operation enabled
Fault
Voltage enabled
Quick stop
Switch on disabled
Warning
Bit 6
switch on
disabled
Warnings which set Bit 11
n04, n06, n07, n10, n11, n14
n03, n08, n09, n20
Bit Name
8 Manufacturer specific (reserved)
9 Remote (always 1)
10 Target reached
11 Internal limit active
12 Operation mode specific (reserved)
13 Operation mode specific (reserved)
14 Manufacturer specific (reserved)
15 Manufacturer specific (reserved)
Bit 5 Bit 3
quick stop fault
1 X 0
1 X 0
0 1 0
0 1 0
0 1 0
0 X 1
0 X 1
0 0 0
Bit 2 Bit 1 Bit 0
operation switched ready to
enabled on switch on
0 0 0
0 0 0
0 0 1
0 1 1
1 1 1
0 0 0
1 1 1
1 1 1