0x6041 Statusword¶
The status of the PDS FSA. Only bits 0-6 are supported.
| 15 | 14 | 13 | 12 | 11 | 10 | 9 | 8 | 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 |
| ms | oms | ila | tr | rm | ms | w | sod | qs | ve | f | oe | so | rtso | ||
| MSB | LSB | ||||||||||||||
LEGEND: ms = manufacturer-specific; oms = operation mode specific; ila = internal limit active; tr = target reached; rm = remote; w = warning; sod = switch on disabled; qs = quick stop; ve = voltage enabled; f = fault; oe = operation enabled; so = switched on; rtso = ready to switch on
| Statusword | PDS FSA state |
|---|---|
| xxxx xxxx x0xx 0000b | Not ready to switch on |
| xxxx xxxx x1xx 0000b | Switch on disabled |
| xxxx xxxx x01x 0001b | Ready to switch on |
| xxxx xxxx x01x 0011b | Switched on |
| xxxx xxxx x01x 0111b | Operation enabled |
| xxxx xxxx x00x 0111b | Quick stop active |
| xxxx xxxx x0xx 1111b | Fault reaction active |
| xxxx xxxx x0xx 1000b | Fault |
If bit 4 (voltage enabled) of the statusword is 1, this indicates that high voltage is applied to the PDS.
If bit 5 (quick stop) of the statusword is 0, this indicates that the PDS is reacting on a quick stop request.
| Bits | Cyclic synchronous position control | Cyclic synchronous velocity control | Cyclic synchronous torque control | Profile position mode | Profile velocity mode | Homing mode |
|---|---|---|---|---|---|---|
| bit 13 (0x2000) | Following error bit | not used | Following error bit | not used | Homing error bit | |
| bit 12 (0x1000) | Target position ignored | Target velocity ignored | Target torque ignored | Set-point acknowledge bit | Speed bit | Homing attained bit |
| Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping |
|---|---|---|---|---|---|---|---|---|---|
| Statusword | 0x6041:0 | UINT | 16 | 0 | readonly (default) | Transmit PDO (Inputs) | |||
