ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 151)

Commands using:
g1.cwd=0x0F,
a1.div,
a1.QuickStop,
v1.bg
Current device state transition can be obtained for the Axis by using the command
swd, StatusWord. The command wswd, WaitStatusWord can be used while waiting for
the statusword change. The statusword contains bits for:
Bit Description
0
Ready to switch on
1 Switched on
2 Operation enabled
3 Fault
4 Voltage
enabled
5 Quick stop
6 Switch on disabled
7 Warning
8 Manufacturer
specific
9 Remote
10 Target
reached
11 Internal limit active
12 - 13 Operation mode specific
14 - 15 Manufacturer specific
Object Index
and Subindex
Full Command Short
Command
Elmo Short
Command
Description
0x6041, 0x00
(see also PDO
Mapping table) StatusWord swd - Status parameter of node
DS402 state machine
0x6041, 0x00
(see also PDO
Mapping table) WaitStatusWord wswd - Waiting status parameter of
node DS402 state machine
changing
Commands using:
a1.swd,
a1.wswd
Maestro Software Manual DS402 Command Reference
MAN-MASSW (Ver. Q)
10-6