Festo Электромотор MTR-DCI - Manual (Page 162)

B. Supplementary information
B-26
Festo P.BE-MTR-DCI-IO-EN en 1209d
Status_Word
CI access 6041h 00h Var uint16 r
Description Download current controller or regulator status.
Typical values see Tab. B/2.
Default: 0x0031
Bits 0...3, 5 and 6 show the status of the device.
Value (binary) Status (x = irrelevant for this 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
Bit Value Comment Mask open ...
— 0x0000 Not ready to switch on (pre-initialization status) —
— 0x0021 Ready to switch on (status after initialization) —
— 0x0027 Switched on + operation enable (power electronics and
positioning are enabled) —
3 0x000F Fault (there is a fault) Bit 3: 0x0008
4 0x0010 <1>: Voltage disabled (end stage off)
<0>: Voltage enabled (end stage on) Bit 4: 0x0010
10 0x0400 Nominal position reached
<1>: Target reached /Motion Complete (see also Object 6068)
<0>: Motion not complete Bit 10: 0x0400
11 0x0800 I 2 t-fault
<1>: Internal limit active
<0>: Internal limit not active
Bit 11: 0x0800
13 0x2000 Fault during homing run
<1>: Homing error
<0>: No homing error Bit 13: 0x2000
Tab. B/2: Typical values of status word