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.

RTSO (Ready To Switch On)

Value = "1": Controller is in the "Ready to switch on" state

SO (Switched On)

Value = "1": Controller is in the "Switched on" state

OE (Operation Enabled)

Value = "1": Controller is in the "Operation enabled" state

FAULT

Error occurred

VE (Voltage Enabled)

Voltage applied

QS (Quick Stop)

Value = "0": Controller is in the "Quick stop" state

SOD (Switched On Disabled)

Value = "1": Controller is in the "Switched on disabled" state

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