Safety
Information
Product
information
Mechanical
installation
Electrical
installation
Getting
started
Basic
parameters
Running the
motor
Optimization
EtherCAT
interface
SMARTCARD
Operation
Onboard
PLC
Advanced
parameters
Technical
Data
Diagnostics
UL listing
information
82 Digitax ST User Guide
Issue: 5
9.18.2 0x6041 Statusword
This provides feedback about the current operating state of the drive.
Table 9-45 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 9-45 Statusword
Table 9-46 Statusword bit functions
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 9-47 State coding
9.18.3 Common profile features
Sequencing control
These are the supported objects used to control the drive:
Table 9-48 Sequencing control supported objects
The behavior of the sequencing control is shown in Figure 9-9 CoE state
machine diagram . This state machine indicates how the drive will be
controlled. For clarity the Statusword is abbreviated to ‘SW’ in the
diagram.
When in the ‘QUICK STOP ACTIVE’ state, the currently selected mode
of operation indicates how a quick stop function should be handled.
When the drive is stopped, and the Quick stop option code doesn’t
indicate that the state should remain at ‘QUICK STOP ACTIVE’, the
state will move to ‘SWITCH ON DISABLED’.
When in the ‘OPERATION ENABLED’ or ‘QUICK STOP ACTIVE’ states
it is not possible to change the mode_of_operation object. This is to
ensure that the motor is stopped before changing the operation mode.
The EtherCAT interface master device must be in the operational state
before the state machine can move from the ‘SWITCH ON DISABLED’
state to the ‘READY TO SWITCH ON’ state. If the master leaves the
operational state while the state machine is in the ‘SWITCH ON’,
‘OPERATION ENABLE’ , ‘QUICK STOP ACTIVE’ or ‘READY TO
SWITCH ON’ state then the EtherCAT interface will transition to the
‘SWITCH ON DISABLED’ state. This implies that the drive will be
inhibited and the motor will coast.
Figure 9-9 CoE state machine diagram
On the Drive with the default drive parameters the 'Switched on' state
will correspond to a drive status of 'STOP'. If the STOP state is not
acceptable for any applications that do not use the menu 12 brake
controller, Pr 6.08 will have to be set to OFF. With Pr 6.08 set to OFF the
'Switched on' state will now correspond to a drive status of 'Rdy'.
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.
1514131211109876543210
ms ha ila tr rm ms w sod qs ve f oe so rtso
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
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
SWITCH ON
DISABLED
NOT READY TO
SWITCH ON
START
READY TO
SWITCH ON
SWITCHED ON
OPERATION
ENABLE
QUICK STOP
ACTIVE
FAULT
FAULT REACTION
ACTIVE
Pr 10.01 = 1
Pr 10.02 = 0
0
Shutdown
1
2
Switch On
3
Enable
operation
4
Disable
operation
5
Shutdown
6
Quick stop
7
Shutdown
8
9
Disable
voltage
10
Disable
voltage
16
Quick stop
Disable
voltage
12
Any drive
trip
13
Fault reaction
complete
14
Fault reset
15
11
Enable
operation
Any drive
trip
Power enabled
FaultPower disabled
Drive not
tripped
To Next Page
Loading...
