Kollmorgen S300

4.4.2.2 Object 6041h: Statusword (DS402)
The momentary state of the status machine can be read out with the aid of the status word
(Þ p.38).
Index 6041
h
Name
Status word
Object code
VAR
Data type
UNSIGNED16
Access
rw
PDO mapping
possible
Unit
—
Value range
0 ... 65535
EEPROM
yes
Default value
0
Bit assignment in the status word
Bit Name Bit Name
0 Ready to switch on 8 Manufacturer-specific (reserved)
1 Switched on 9 Remote (always 1)
2 Operation enable 10 Target reached
3 Fault 11 Internal limit active
4 Voltage enabled 12 Operation mode specific (reserved)
5 Quick stop 13 Operation mode specific (reserved)
6 Switch on disabled 14 Manufacturer-specific (reserved)
7 Warning 15 Manufacturer-specific (reserved)
States of the status machine
State
Bit 6
switch on
disable
Bit 5
quick stop
Bit 3
fault
Bit 2
operation
enable
Bit 1
switched on
Bit 0
ready to
switch on
Not ready to switch on 1 X 0000
Switch on disabled 1 X 0000
Ready to switch on 010001
Switched on 010011
Operation enabled 010111
Fault 0 X 1000
Fault reaction active 0 X 1111
Quick stop active 000111
Bits marked by X are irrelevant
Description of the remaining bits in the status word
Bit 4: voltage_enabled The DC-link voltage is present if this bit is set.
Bit 7: warning There are several possible reasons for Bit 7 being set and this warning being pro
-
duced. The reason for this warning can be revealed by using the Object 20subindex manufacturer
warnings.
Bit 9: remote is always set to 1, i.e. the drive can always communicate and be influenced via the
RS232 - interface.
Bit 10: target_reached This is set when the drive has reached the target position.
Bit 11: internal_limit_active This bit specifies that a movement was or is limited. In different
modes, different warnings cause the bit to be set. The following assignments exist:
Mode of operation Warnings which set Bit 11
all n04, n06, n07, n10, n11, n14
0x1 (PP), 0x88 n03, n08, n09, n20
60 CANopen for S300/S700
CANopen Drive Profile 11/2018 Kollmorgen