Table of Contents
7.2
0x6041 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 7-3 Statusword
0x6041
Statusword
Access: RW
Default:
N/A
Description:
This provides feedback about the current operating state of the drive.
Table 7-4 Statusword bit functions
15
14
13
12
ms
ha
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 7-5 State coding
Statusword
xxxx xxxx x0xx 0000b
xxxx xxxx x1xx 0000b
xxxx xxxx x01x 0001b
xxxx xxxx x01x 0011b
xxxx xxxx x01x 0111b
xxxx xxxx x00x 0111b
xxxx xxxx x0xx 1111b
xxxx xxxx x0xx 1000b
When using CoE to control the motor position, if the status word indicates a fault due to a drive trip,
then to clear the fault, the fault reset command should be executed; if the drive is reset by the
keypad then the status word will not be reset and will still indicate a fault condition
44
Range: 0 to 65535
11
10
9
8
ila
tr
rm
ms
Not ready to switch on
Switch on disabled
Ready to switch on
Switched on
Operation enabled
Quick stop active
Fault reaction active
Fault
Size: Unsigned 16
Type: UINT
7
6
5
4
w
sod
qs
ve
State
SI-EtherCAT User Guide
Unit: N/A
3
2
1
0
f
oe
so
rtso
Issue Number: 2
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