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 |
Internal limit active (bit 11) indicates if there is an element that doesn't allow the motion to follow the target value. Several limits exist in the firmware. Max. torque (6072h) limits Torque demand (6074h), Max. motor speed (6080h) limits Velocity demand value (606Bh) and Profile velocity (6081h) in Profile position (PP) mode, Software position limit (607Dh) limits Position demand value (6062h) and position or velocity controller integral limit limits integral part of the PID controller. Additional limit, Position range limit (607Bh), exists for Position demand value (6062h) in Profile position (PP) mode since demand value can't wrap around the range limit, when profiler is being used.
| 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) | |||
