3.1.9.1.88 0x6041 Statusword
14
12
LSB
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
13
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
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 0000
Not ready to switch on
xxxx xxxx x1xx 0000
Switch on disabled
xxxx xxxx x01x 0001
Ready to switch on
xxxx xxxx x01x 0011
Switched on
xxxx xxxx x01x 0111
Operation enabled
xxxx xxxx x00x 0111
Quick stop active
xxxx xxxx x0xx 1111
Fault reaction active
xxxx xxxx x0xx 1000
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.
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.
b
b
b
b
b
b
b
b
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