0x6041 - Statusword

The statusword is used to:

• Find out the current controller status.
• Find out the operation mode status.

By default, emcl controller automatically notifies through RS232 interface about any modification that occurs in the Statusword, without requiring any prior consultation. See Statusword mode on object UART configuration for further information.

Data description:

The following use is given to each statusword bit:

Bits 0-3, 5 and 6 indicate the device status. 

The mode specific bits are defined in the corresponding section:

• Statusword in open loop vector mode.
• Statusword in open loop scalar mode.
• Statusword in homing mode.
• Statusword in profile position mode.
• Statusword in interpolated position mode.
• Statusword in profile velocity mode.
• Statusword in profile torque mode.
• Statusword in velocity mode.
• Statusword in cyclic synchronous position mode.

Bit 11 indicates if an internal drive limitation in motion is being applied. This limit implies that the drive is taking control of the motor in, for example, limiting movements in one direction when a switch limit is pressed. Internal limit can be activated by Stop manager, but also in Velocity mode when target velocity is out of defined limits.

Bit 14 indicates if the initial angle determination process necessary for BLAC has been completed correctly. 

The connection between status and value in these bits is shown below.

Note that the Quick stop bit is activated at a low level.