Kollmorgen S300

S300-S700 CANopen | 5 CANopen Drive Profile
5.4.2.2 Object 6041h: Status word (DS402)
The current state of the state machine can be read out with the aid of the status word.
Index 6041h
Name Status word
Object code VAR
Data type UNSIGNED16
Access rw
PDO mapping possible
Unit —
Value range 0 to 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 enabled 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 state machine
State Bit 6
switch on
disabled
Bit 5
quick stop
Bit 3
fault
Bit 2
operation
enabled
Bit 1
switched
on
Bit 0
ready to
switch on
Not ready to switch on 1 X 0 0 0 0
Switch on disabled 1 X 0 0 0 0
Ready to switch on 0 1 0 0 0 1
Switched on 0 1 0 0 1 1
Operation enabled 0 1 0 1 1 1
Fault 0 X 1 0 0 0
Fault reaction active 0 X 1 1 1 1
Quick stop active 0 0 0 1 1 1
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 Kollmorgen | kdn.kollmorgen.com | December 2019