Object 6041h.0h Statusword provides information on the drive status in accordance with the CiA 402 State Machine.
Status word 6041h - Current drive status
Bit no. (0-15) |
15 14 |
13 12 |
11 |
10 |
9 |
8 |
7 |
6 |
5 |
4 |
3 |
2 |
1 |
0 |
Meaning |
ms |
oms |
ila |
tr |
rm |
ms/mv |
w |
sod |
qs |
ve |
f |
oe |
so |
rtso |
Legend:
Bit no. (0-15) |
Hex value |
Decimal value |
Meaning |
Description: 0 |
0 |
0001h |
1 |
rtso |
ready to switch on |
1 |
0002h |
2 |
so |
switched on |
2 |
0004h |
4 |
oe |
operation enabled |
3 |
0008h |
8 |
f |
fault *2) |
4 |
0010h |
16 |
ve |
voltage enabled |
5 |
0020h |
32 |
qs |
quick stop |
6 |
0040h |
64 |
sod |
switch on disabled |
7 |
0080h |
128 |
w |
warning |
8 |
0100h |
256 |
ms/ |
manufacturer-specific / |
9 |
0200h |
512 |
rm |
remote |
10 |
0400h |
1024 |
tr |
target reached |
11 |
0800h |
2048 |
ila |
internal limit active |
12,13 |
1000h, 2000h |
4096, 8192 |
oms |
operation mode specific |
14,15 |
4000h, 8000h |
16384,32768 |
ms |
manufacturer-specific |
Statusword 6041h in binary representation |
Statusword 6041h in hex representation as on the status display |
PDS FSA status |
xxxx xxxx x0xx 0000 |
xx00h |
Not ready to switch on |
xxxx xxxx x1xx 0000 |
xx40h |
Switch on disabled |
xxxx xxxx x01x 0001 |
xx21h |
Ready to switch on |
xxxx xxxx x01x 0011 |
xx23h |
Switched on |
xxxx xxxx x01x 0111 |
xx27h |
Operation enabled |
xxxx xxxx x00x 0111 |
xx07h |
Quick stop active |
xxxx xxxx x0xx 1111 |
xx0Fh |
Fault reaction active |
xxxx xxxx x0xx 1000 |
0008h |
Fault *2) |
*1) Bit 8 - "drive moving" / drive in motion is supported by software versions from 12/2024 onwards
*2) Details of the fault can be queried via MovingCap status register 1002h and CiA 402 fault history 603Fh and 1003h.
Display / query of status word 6041h
You can see the current value of the 6041h statusword in the web interface at the bottom:
or query it using the following RefGo command:
RefGo Command OR6041,0h
RefGo Response OR6041,0,8h
or via the Kickdrive Object Editor:
