Communication extension card
-62-
The bits of 6041h are described as follows:
Bit
Description
M/O
0
Ready to switch on
M
1
Switched on
M
2
Operation enabled
M
3
fault
M
4
Voltage enable
M
5
Quick stop
M
6
Switch on disabled
M
7
Warning
O
8
Manufacture specific
O
9
Remote
M
10
Target reached
M
11
Internal limit active
M
12-13
Operation mode specific
O
14-15
Manufacturer specific
O
BIT0–3, 5, AND 6 (related to control mode)
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
BIT4: Voltage enable, when this bit is 1, it indicates that the main circuit power supply is normal.
BIT9: Remote, when this bit is 1, it indicates that the slave station is in the OP state, and the master station
can control the drive through PDO.
BIT10: Target reached, this bit differs in meaning under different control modes. When this bit is 1, in cyclic
synchronous position mode, it indicates that target position is reached, while in cyclic synchronous velocity
mode, it indicates that reference speed is reached; in homing mode, it indicates that homing is completed.
BIT14: When this bit is 1, it indicates motor zero-speed state.
BIT7–8, BIT11–13, and BIT15: Reserved.