Festo Электромотор MTR-DCI - Manual (Page 301)

C. The Command Interpreter (CI)
C-27
Festo P.BE-MTR-DCI-DN-EN en 1209a
Status word
CI 6041h 00h Var uint16 ro
Description For reading the current controller/regulator status.
State machine description: see section 5.8
For values see Tab. C/9.
Bit Value Description
0 0x0001 Ready to switch on Bits 0 ... 3, 5 and 6 show the status of the device
(x ... irrelevant for this status)
Value (binary)
Status
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
1 0x0002 Switched on
2 0x0004 Operation enabled
3 0x0008 Fault
4 0x0010 Voltage enabled
5 0x0020 Quick Stop
6 0x0040 Switch on disabled
7 0x0080 Warning (simple fault which does not require an emergency stop)
8 0x0100 Drive moves (corresponds to bit 4 of SPOS in FHPP)
9 0x0200 Master control (corresponds to bit 5 of SCON in FHPP)
10 0x0400 Target reached (see also objects 6067 and 6068)
11 0x0800 Internal Limit active
12 0x1000 Depends on operation mode (object 6060):
– Profile Position mode: Setpoint Acknowledge
– Homing mode: Homing Attained
– Profile Torque Mode: is running
13 0x2000 Depends on operation mode (object 6060):
– Profile Position mode: Following Error
– Homing mode: Homing Error
– Profile Torque Mode: stroke limit reached
14 0x4000 Teach acknowledge (corresponds to bit 3 of SPOS in FHPP)
15 0x8000 Homing performed (corresponding to bit 7 of SPOS in FHPP)
Tab. C/9: Description of Status Word