OD_6041_00 Statusword

This object returns information about the status of the CiA 402 Power State Machine.

Parts of the object are, with respect to function, dependent on the currently selected mode.

• Bit 0: Ready To Switch On
  • Value = "0": Not Ready To Switch On
  • Value = "1": Ready To Switch On
  Value = "1": Controller is in the "Ready to switch on" state
• Bit 1: Switched On
  • Value = "0": Not Switched On
  • Value = "1": Switched On
  Value = "1": Controller is in the "Operation enabled" state
• Bit 2: Operation Enabled
  • Value = "0": Not in Operation Enabled
  • Value = "1": Operation Enabled
• Bit 3: Fault
  • Value = "0": no error
  • Value = "1": Error (see 1003_h)
  See 1003_h in the event of an error.
• Bit 4: Voltage Enabled
  • Value = "0": Voltage not Enabled
  • Value = "1": Voltage Enabled
  Voltage applied
• Bit 5: Quick Stop
  • Value = "0": Quick Stop
  • Value = "1": Not in Quick Stop
  Value = "0": Controller is in the "Quick stop" state
• Bit 6: Switched On Disabled
  • Value = "0": Not in Switched On Disabled
  • Value = "1": Switched On Disabled
  Value = "1": Controller is in the "Switched on disabled" state
• Bit 7: Warning
  • Value = "0": No warning
  • Value = "1": Warning
  See 1003_h in the event of a warning.
• Bit 8: Synchronization
  • Value = "0": No synchronization
  • Value = "1": Synchronization
  Value = "1": Controller is in sync with the fieldbus; value = "0": Controller is not in sync with the fieldbus
• Bit 9: Remote
  • Value = "0": No remote
  • Value = "1": Remote
  Value of the bit is always "1"
• Bit 10: Target Reached
  • Value = "0": Target not Reached
  • Value = "1": Target Reached
  Target reached. The value stays after an operation mode change at "1", until a new target is commanded.
• Bit 11: Internal Limit Active
  • Value = "0": Internal Limit not Active
  • Value = "1": Internal Limit Active
  Limit exceeded
• Bit 12: Operation Mode Specific
  • Value = "0": Operation Mode Specific
  • Value = "1": Operation Mode Specific
• Bit 13: Operation Mode Specific
  • Value = "0": Operation Mode Specific
  • Value = "1": Operation Mode Specific
  Meaning is dependent on the selected operating mode
• Bit 15: Closed Loop Active
  • Value = "0": Closed Loop not Active
  • Value = "1": Closed Loop Active
  Value = "1": The controller is in the Operation enabled state and the Closed Loop is activated.

Listed in the following table are the bit masks that break down the state of the controller.