0x6041 Statusword

This object shall provide the status of the PDS FSA. The bits 10, 9, and 6 to 0 shall be supported. The other bits may be 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.

If bit 7 (warning) of the statusword is 1, this indicates the presence of a warning condition. Warning is not an error or fault (examples: temperature limit exceeded, job refused). The status of the PDS FSA is not changed. The cause of the warning is given in the Error report object (203Fh).

If bit 9 (remote) of the statusword is 1, this indicates that the controlword is processed. If it is 0 (local), this indicates that the controlword is not processed. Nevertheless, the PDS may provide actual values, and the PDS may accept COB for configuration data transmission for other parameter objects.

If bit 10 (target reached) of the statusword is 1, this indicates that the PDS has reached the set-point. The set-point is operation mode specific and is defined in detail in the corresponding clauses of this part of the IEC 61800-7 series. Bit 10 is also set to 1, if the operation mode has been changed. The change of a target value by software will alter this bit. If quick stop option code is 5, 6, 7 or 8, bit 10 is set to 1, when the quick stop operation is finished and the PDS is halted. If halt occurred and the PDS has halted then bit 10 is set to 1, too.

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.

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

 

Bit 14 and bit 15 are manufacturer-specific.

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)