Delta ASDA-A3 Series User Manual page 1103

EtherCAT Mode
Object 6041h: Statusword
Index
13
Name
Object code
Data type
Access
PDO mapping
Setting range
Default
Object function:
The Statusword contains many statuses, such as Servo On, command statuses, fault signal,
and quick stop. The state machine architecture is as follows:
Bit
Bit
Bit 0
Bit 1
Bit 2
Bit 3
Bit 4
Bit 5
Bit 6
Bit 7
Bit 8
Bit 9
Bit 10
Bit 11
Bit 12 - Bit 13
Bit 14
Bit 15
Bit 0 - Bit 6: current status of the servo drive.
Bit 6
0
1
0
0
0
0
0
0
Note: 0 indicates the bit is off, 1 indicates the bit is on, and - indicates the bit is invalid.
13-58
6041h
Statusword
VAR
UNSIGNED16
RO
Yes
UNSIGNED16
0
12
15 14 13 11
Ready to switch on
Switched on
Operation enabled
Fault
Voltage enabled
Quick stop
Switch on disabled
Warning
Reserved
Remote
Target reached
Reserved
-
Positive limit
Negative limit
Bit 5 Bit 4 Bit 3 Bit 2
- - 0 0
- - 0 0
1 - 0 0
1 - 0 0
1 - 0 1
0 - 0 1
- - 1 1
- - 1 0
10 9 8 7 6
Status
Ready to be activated
Servo ready
Servo On
Fault signal
Servo is powered on
Quick stop
Servo disabled
Warning signal
-
Remote control
Target reached
-
-
Positive limit
Negative limit
Bit 1 Bit 0
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 (Servo On).
1 1 Quick stop active.
1 1 Fault reaction active.
0 0 Servo fault (servo switches to Servo Off).
4
5 3 2 1
Description
Bit 0 - Bit 6: current status of the
servo drive (see the following
table for details).
When outputting the warning
signal, the servo keeps outputting
the Servo On signal.
-
-
-
-
These bits are individually defined
according to the operation mode,
as shown in the following table.
-
-
Description
ASDA-A3
0