Bit Mapping of the Status word
The following table describes the Drive Status of the Sercos Profile:
|
Bit number |
Description |
|---|---|
|
15-14 |
Ready to operate: 00 = Not ready to switch on 01 = Switch on disabled, main power disabled 10 = Switch on 11 = Drive enabled |
|
13 |
Drive shut-down error 0 = No error 1 = Error |
|
12 |
Warning: 0 = No warning 1 = Warning |
|
11 |
Reserved |
|
10 |
0 = Primary operation mode |
|
9 |
Reserved (=0) |
|
8 |
Reserved (=0) |
|
7 |
Quick stop 0 = inactive 1 = active |
|
6 |
Reserved |
|
5 |
Position feedback value status (S-0-0403) |
|
4 |
Drive halt 0 = inactive 1 = active |
|
3 |
Status command value processing if 0 = ignored |
|
2 |
Reserved |
|
1 |
Reserved |
|
0 |
Reserved |
The following table describes the drive status depending on the status word of the drive:
|
Operating State |
Bit 15 |
Bit 14 |
Bit 13 |
Bit 7 |
Bit 4 |
Bit 3 |
|---|---|---|---|---|---|---|
|
1 - Not ready to switch on |
0 |
0 |
- |
- |
- |
- |
|
2 - Switch on disabled |
0 |
1 |
- |
- |
- |
- |
|
3 - Ready to switch on |
1 |
0 |
- |
- |
- |
- |
|
4 - Switched on |
1 |
1 |
- |
- |
- |
- |
|
5a - Drive in operation |
1 |
1 |
- |
- |
0 |
1 |
|
5b - Halt active |
1 |
1 |
- |
- |
1 |
0 |
|
6 - Quick stop active |
1 |
1 |
- |
1 |
1 |
0 |
|
7 - Fault reaction active |
1 |
1 |
1 |
- |
0 |
0 |
|
8 - Fault |
1 |
0 |
1 |
- |
0 |
0 |
