Mitsubishi MR-JE series User Manual

7. OBJECT LIBRARY
7 - 34
7.4 Object library details (objects in the 6000s)
POINT
This section describes the objects in the 6000s. Refer to section 7.1 for details
on the objects not listed here.
7.4.1 Control status (6041h)
Index
Sub
Index
Name
Data
type
Read/
write
6041h 0 Control status (Statusword) 2 bytes Reading
The current control status can be checked.
The following table lists the bits of this object. The status can be checked with bit 0 to bit 7.
Bit Description
0 Ready To Switch On
1 Switched On
2 Operation Enabled
3 Fault
4 Voltage Enabled
5 Quick Stop
6 Switch On Disabled
7 Warning
8 Reserved (Note 2)
9 Reserved (Note 2)
10 Target reached (Note 1)
11 Internal Limit Active
12 to 13 Operation Mode Specific (Note 1)
14 to 15 Reserved (Note 2)
Note 1. The description changes depending on the control mode.
2. The value at reading is undefined.
The following table lists the servo amplifier statuses that can be read with bit 0 to bit 7.
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Status
0 0 0 0 0 Not ready to switch on
1 0 0 0 0 Switch on disable
0 1 0 0 0 1 Ready to switch on
0 1 0 0 1 1 Switch on
0 1 0 1 1 1 Operation enabled
0 0 0 1 1 1 Quick stop active (Note)
0 1 1 1 1 Fault reaction active
0 1 0 0 0 Fault
1 Main power on (power input on)
1 Warning (warning occurrence)
Note. Not supported in the position control mode, speed control mode, and torque control mode.
Bit 11 turns on when the stroke limit, software limit, or positioning command is outside the range.

Mitsubishi MR-JE series Specifications

General

Series	MR-JE
Safety Function	STO (Safe Torque Off)
Type	Servo Drive
Encoder Type	Incremental encoder, Absolute encoder
Positioning Function	Position control
Protection Functions	Overcurrent, Overvoltage, Undervoltage, Overload, Overspeed, Encoder error, Regenerative error
Ambient Temperature	0°C to 55°C
Vibration Resistance	5.9 m/s² (0.6 G) in X, Y, and Z directions