CiA 402 Drive Profile
8.1.2 Object 6041h – Statusword
It indicates the drive present state. The bits of this word have the following functions:
Bit
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Function
Reserved
Operation
mode specific
Internal limit active
Target reached
Remote
Reserved
Warning
Switch on disabled
Quick stop
Voltage enabled
Fault
Operation enabled
Switched on
Ready to switch on
In this word the bits 0, 1, 2, 3, 5 and 6 indicate the state of the device according to the state machine described in
the figure 8.1. The table 8.3 describes the combinations of these bits for the state indications. The bits marked with
“x” are irrelevant for the state indication.
Table 8.3: Drive states indicated through the Statusword
Value (binary) State
xxxx xxxx x0xx 0000 Not ready to switch on
xxxx xxxx x1xx 0000 Switch on disabled
xxxx xxxx x01x 0001 Ready to switch on
xxxx xxxx x01x 0011 Switched on
xxxx xxxx x01x 0111 Operation enabled
xxxx xxxx x00x 0111 Quick stop active
xxxx xxxx x0xx 1111 Fault reaction active
xxxx xxxx x0xx 1000 Fault
The other bits indicate a specific condition for the drive.
Bit 4 – Voltage enabled: indicates that the drive power section is powered.
Bit 7 – Warning: indicates that has an active warning. Not used by CFW11.
Bit 9 – Remote: indicates when the drive is in the remote mode and accepts commands via EtherCAT network.
Represents the value of bit 4 of status word – P0680.
Bit 10 – Target reached: indicates when the drive is operating at the reference value, which depends on the
used operation mode. It is also set to 1 when the functions Quick stop or Halt are activated.
Bit 11 – Internal limit active: indicates when the drive is operating in an internal limit value, as the current limit.
Bits 12 and 13 – Operation mode specific: they depend on the drive operation mode.
8.1.3 Object 6060h – Modes of Operation
It allows programming the drive operation mode.
Index
Sub-
index
Name Type Access
PDO
Mapping
6060h 0 Modes of Operation INT8 rw Yes
The only supported mode for CFW11 frequency inverter is Velocity Mode, represented by value 2.
8.1.4 Object 6061h – Modes of Operation Display
It indicates the drive operation mode.
CFW11 | 30
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