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

State coding
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.

Operation mode specific bits of Statusword ("oms")
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

 

If bit 11 (internal limit active) of the statusword is 1, this indicates that one of control values has been limited. Following internal limits exist in the firmware:

Max. torque (6072h) limits Torque demand value (6074h) in all opearational modes. Additionally, in CST and PT modes it limits Target torque (6071h) and Torque offset (60B2h) too.

Max. motor speed (6080h) limits Velocity demand value (606Bh) in position control modes such as CSP or PP. In velocity controle modes, e.g. CSV or PV, it limits Target velocity (60FFh) and Velocity offset (60B1h).

Position range limit (607Bh) is being used only in Profile position PP mode and it limits Position demand value (6062h) since demand value can’t wrap around range limit, when profiler is being used.

Software position limit (607Dh) limits Position demand value (6062h) in all position control modes such as PP or CSP. 

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)