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0x6041 - Status Word doc

Data description

The binary representation of the status word value and its corresponding meaning is as follows:

Bit number

15

14

13

12

11

10

9

8

7

6

5

4

3

2

1

0


Reserved

Initial angle determination process finished

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

State machine dedicated bits

Bits 0-3, 5 and 6 determine the drive state:

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


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

Internal limit active bit

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.

Initial angle determination process bit

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

This bit contains the information of the commutation alignment state. After power on this bit is 0 as the commutation feedback is not aligned. The first time the drive enters in operation enable state, a phasing procedure is started (forced or non-forced) and this bit is set once is finished successfully. This bit is reset every time a feedback is modified.

Specific mode bits

The status word includes 2 mode-specific bits (bits 12 and 13) that change their meaning depending on the mode of operation. 

Status word in homing mode

The binary representation of the register value and its meaning is as follows:

Bit number:

15

14

13

12

11

10

9

0


-

Homing error

Homing attained

-

Target reached

-


The meaning of each bit is described below, depending on its value:

Homing error

Homing attained

Target reached

Description

0

0

0

Homing procedure is in progress

0

0

1

Homing procedure is interrupted or not started

0

1

0

Homing is attained but target is not reached

0

1

1

Homing mode carried out successfully

1

0

0

Homing error occurred;
Homing mode carried out not successfully;
Velocity is not zero

1

0

1

Homing error occurred;
Homing mode carried out not successfully;
Velocity is zero

1

1

x

Reserved

Status word in cyclic synchronous torque, cyclic synchronous velocity, and cyclic synchronous position modes

The binary representation of the register value and its corresponding meaning is as follows:

Bit number:

15

14

13

12

11

10

9

0


-

Following error

Drive follows the command value

-

-

-


The meaning of each bit is described below, depending on its value:

Name

Value

Description

Drive follows the command value



0

The drive does not follow the target value

1

The drive follows the target value

Following error

0

No following error

1

Following error

Status word in profile velocity mode

The binary representation of the register value and its corresponding meaning is as follows:

Bit number:

15

14

13

12

11

10

9

0


-

Following error

Speed

-

Target reached

-


The meaning of each bit is described below, depending on its value: 

Name

Value

Description

Target reached



0

Target velocity not reached

1

Target velocity reached

Speed

0

Speed is not zero

1

Speed is zero

Following error


0

No following error

1

Following error


Target reached bit in velocity modes needs velocity window and window time configured to be able to use this feature.

Status word in profile position mode

The binary representation of the register value and its corresponding meaning is as follows:

Bit number:

15

14

13

12

11

10

9

0


-

Following error

Set-point ack.

-

Target reached

-


The meaning of each bit is described below, depending on its value:

Name

Value

Description

Target reached


0

Target position not reached

1

Target position reached

Set-point acknowledge


0

Trajectory generator has not assumed the positioning values

1

Trajectory generator has assumed the positioning values

Following error


0

No following error

1

Following error


Target reached bit in position modes needs position window and window time configured to be able to use this feature.


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