Emerson 0471-0128-02 manual 0x6041 Statusword, Common profile features, Sequencing control

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7.20x6041 Statusword

This provides feedback about the current operating state of the drive. Table 7.4 describes the format of the status word and illustrates how the individual statusword bits are combined to represent the current state of the drive.

Table 7.4 Statusword

0x6041	Statusword
Access: RW		Range: 0 to 65535	Size: Unsigned 16	Unit: N/A

Default:	N/A

Description:	This provides feedback about the current operating state of the drive.

Table 7.5 Statusword bit functions

15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
	ms		ha	lla	tr	rm	ms	w	sod	qs	ve	f	oe	so	rtso

LEGEND: ms = manufacturer-specific; ha = homing attained; oms = operation mode specific; ila = internal limit active; tr = target reached; rm = remote; w = warning; sod = switch on disabled; qs = quick stop; ve = voltage enabled; f = fault; oe = operation enabled; so = switched on; rtso = ready to switch on

Table 7.6 State coding

Statusword	State
xxxx xxxx x0xx 0000b	Not ready to switch on

xxxx xxxx x1xx 0000b	Switch on disabled
xxxx xxxx x01x 0001b	Ready to switch on

xxxx xxxx x01x 0011b	Switched on

xxxx xxxx x01x 0111b	Operation enabled
xxxx xxxx x00x 0111b	Quick stop active

xxxx xxxx x0xx 1111b	Fault reaction active

xxxx xxxx x0xx 1000b	Fault

7.3Common profile features

7.3.1Sequencing control

These are the supported objects used to control the drive:

Table 7.7 Sequencing control supported objects

Index	Name
0x6040	controlword
0x6041	statusword

0x605B	shutdown_option_code
0x605C	disable_operation_option_code

0x605A	quick_stop_option_code

0x605D	halt_option_code
0x605E	fault_reaction_option_code

0x6060	modes_of_operation

0x6061	modes_of_operation_display
0x6085	quick_stop_deceleration

Information	Safety

Introduction

Installation	Mechanical

Installation	Electrical

Getting Started

Protocols

support	Drive profile (DSP-402)
features	Advanced

Diagnostics

Reference	Quick

Terms	Glossary
	Of

Index

SM-EtherCAT User Guide	29
Issue Number: 2	www.controltechniques.com

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Contents SM-EtherCAT General Information Contents Quick Reference Glossary Of Terms DiagnosticsSystem design and safety of personnel Safety InformationElectrical safety general warning Environmental limits Adjusting parametersCompliance with regulations MotorGeneral safety considerations for remote operation What is EtherCAT? FeaturesSolution module identification IntroductionExample Conventions used in this guideDate code format General Installation Mechanical InstallationModule grounding Electrical InstallationSM-EtherCAT module information Minimum node-to-node cable length Network topologyQuick start guide Getting StartedSM-EtherCAT version compatibility SM-EtherCAT XML fileConfiguring the SM-EtherCAT module for cyclic communications Cyclic data mapping configuration RxPDO1 TxPDO1 TxPDO6 Configuring the Sync ManagersAssigning TxPDO to the Sync Manager Assigning RxPDO to the Sync ManagerQuick start flowchart Quick start flowchartSaving parameters to the drive Re-initialise all Solutions ModulesRe-initialising the SM-EtherCAT SM-EtherCAT re-initialiseCANopen over EtherCAT CoE ProtocolsCoE object dictionary Object description formatDefinitions CoE communication areaDevice type object Identity objectRxPDO mappings RxPDO mappingsRxPDO mapping 0x16000x1605 0x160110 RxPDO mapping TxPDO mappings11 TxPDO mappings 12 TxPDO mapping14 TxPDO mapping 13 TxPDO mapping0x1A01 Transmit PDO mapping Sub-index 0 Number of mapped objects16 TxPDO mapping 15 TxPDO mapping0x1A05 0x1A1517 Sync manager communication type object Sync manager configuration18 Sync manager 0 PDO assignment object 19 Sync manager 1 PDO assignment object20 Sync manager 2 PDO assignment object Feedback encoder source21 Sync manager 3 PDO assignment object 22 Feedback encoder sourceDrive profile DSP-402 support Command coding0x6040 Controlword ControlwordSequencing control Common profile features0x6041 Statusword Page Power disabled Transition Events Actions CoE state machine transition and eventsQuickstopoptioncode 2 0x605A Quick stop option code10 Quick stop value definitions 0x605A3 0x605B Shutdownoptioncode 4 0x605C Disableoperationoptioncode5 0x605E Faultreactionoptioncode 8 0x6085 Quickstopdeceleration 6 0x6060 Modesofoperation7 0x6061 Modesofoperationdisplay 23 Positionencoderresolution 10 0x608F PositionencoderresolutionProfile units 11 0x6091 GearratioBasic position control 12 0x6092 Feedconstant24 Gearratio Feed constant = feed / driving shaft revolutions15 0x6064 Positionactualvalue 16 0x60F4 Followingerroractualvalue14 0x6062 Positiondemandvalue 1 0x60C0 Interpolationsub-modeselect Interpolated position mode17 0x60FB Positioncontrolparameterset object 3 0x60C2 Interpolationtimeperiod 2 0x60C1 Interpolationdatarecord33 0x60C1 Interpolationdatarecord 34 Interpolationtimeperiod36 vl velocity mode supported objects Vl velocity mode1 0x6042 vltargetvelocity 37 vltargetvelocity4 0x6046 vlvelocityminmaxamount 2 0x6043 vlvelocitydemand3 0x6044 vlvelocityactualvalue 6 0x6048 vlvelocityacceleration 5 0x6047 vlvelocityminmax41 0x6047 vlvelocityminmax 0x60478 0x604A vlvelocityquickstop 7 0x6049 vlvelocitydeceleration0x6049 0x604ACalculating the vl dimension factor 10 0x604C vldimensionfactor46 0x604C vldimensionfactor 9 0x604B vlsetpointfactor47 Profile torque mode supported objects Profile Torque mode1 0x6071 Targettorque 48 0x6071 Targettorque2 0x6075 Motorratedcurrent Homing Mode3 0x6078 Currentactualvalue 4 0x6087 TorqueslopeGeneral homing definitions Method 1 Homing on negative limit switch and index pulseSupport Drive profile DSP-402 SM-EtherCAT User Guide Method 33 and 34 Homing on index pulse Method 15 and 16 ReservedMethod 17 to 30 Homing without index pulse Homing mode object definitions 55 Freeze object 0x2804 Freeze objectFreeze object 0x607C Home offset57 Homing method 0x6098 Homing method58 Homing method values 0x6099 Homing speedsSM-EtherCAT protocol support Advanced featuresDistributed clocks Module identification parameters DiagnosticsSM-EtherCAT module ID code SM-EtherCAT firmware versionCommander SK / Commander SL Network configuration objectsSM-EtherCAT network loss trip Network loss behavior objectRunning states Diagnostic parametersSM-EtherCAT serial number SM-EtherCAT module temperatureDrive trip display codes 12 SM-EtherCAT error codes SM-EtherCAT error codes13 SM-EtherCAT error codes SM-EtherCAT error codes Default Pr MM.50 Range AccessWorst case critical task % free Critical task % freeFlash file system % free Updating SM-EtherCAT firmwareObject Name Description Cross reference Quick ReferenceSM-EtherCAT objects reference Provides the velocity at the motor spin 3 on Object SM-EtherCAT parameter referencePr MM.01 Pr MM.32Polled data See Cyclic data Glossary Of TermsScan rate See Poll rate Index Secure Disable Page 0471-0128-02