6041h 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. Refer to the corresponding section in chapter Operating modes.

RTSO (Ready To Switch On)

Value = "1": Controller is in the "Ready to Switch On" state (dependent on other bits, see following bit mask)

SO (Switched On)

Value = "1": Controller is in the "Switched On" state (dependent on other bits, see following bit mask)

OE (Operation Enabled)

Value = "1": Controller is in the "Operation Enabled" state (dependent on other bits, see following bit mask)

FAULT

Error occurred

VE (Voltage Enabled)

Voltage applied

QS (Quick Stop)

Value = "0": Controller is in the "Quick Stop" state (dependent on other bits, see following bit mask)

SOD (Switched On Disabled)

Value = "1": Controller is in the "Switched On Disabled" state (dependent on other bits, see following bit mask)

WARN (Warning)

Value = "1": Warning

SYNC (synchronization)

Value = "1": Controller is in sync with the fieldbus; value = "0": Controller is not in sync with the fieldbus

REM (Remote)

Remote (value of the bit is always "1")

TARG

Target reached

ILA (Internal Limit Reached)

Limit exceeded

OMS (Operation Mode Specific)

Meaning is dependent on the selected operating mode

CLA (Closed Loop Available)

Value = "1": Auto setup was successful and encoder index seen: closed loop mode possible

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

Statusword (6041h)	State
xxxx xxxx x0xx 0000	Not ready to switch on
xxxx xxxx x1xx 0000	Switch on disabled
xxxx xxxx x01x 0001	Ready to switch on
xxxx xxxx x01x 0011	Switched on
xxxx xxxx x01x 0111	Operation enabled
xxxx xxxx x00x 0111	Quick stop active
xxxx xxxx x0xx 1111	Fault reaction active
xxxx xxxx x0xx 1000	Fault