29Part 2: DSP-402 Implementation

Object 6041h — Statusword

The Statusword is a read-only object that indicates the current state of the drive, no bits are latched. Statusword consists of
bits for:
The current state of the drive.
The operating state of the mode.
Manufacturer Specific options.
Object Description
Index
6041h
Name
Statusword
Object Code
VAR
Data Type
Unsigned16
Entry Description
Access
ro
PDO Mapping
n/a
Range
Unsigned16
Default
n/a
Data Description

Bits 0-3 and 5-6

The following bits indicate the status of the MDrivePlus CANopen.
Status Bit of Statusword (6041h)
5 6 4* 3 2 1 0
Not Ready to Switch On 0 X X 0 0 0 0
Switch On Disabled 1 X X 0 0 0 0
Ready to Switch On 0 1 X 0 0 0 1
Switched On 0 1 X 0 0 1 1
Operation Enabled 0 1 X 0 1 1 1
Quick Stop Active 0 0 X 0 1 1 1
Fault Reaction Active 0 X X 1 1 1 1
Fault 0 X X 0 0 0 0
X=Irrelevant Bit State, *Bit 4 shown for illustration purpose only.
Table 4.5: Device State Bits for Statusword

Statusword (6041h) Bits

LSB
MSB
Ready to Switch On
Switched On
Operation Enabled
Fault
Voltage Enabled
Quick Stop Active
Switch On Disabled
Warning
Manufacturer Specific
Manufacturer Specific
Manufacturer Specific
Remote
Target Reached
Internal Limit Active
Operation Mode Specific
Operation Mode Specific
0
M
15
O
14
O
12
O
11
M
10
M
9
M
8
O
7
O
6
M
5
M
4
M
3
M
2
M
1
M
13
O
Figure 4.3: Statusword Bits