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 0000_b	Not ready to switch on
xxxx xxxx x1xx 0000_b	Switch on disabled
xxxx xxxx x01x 0001_b	Ready to switch on
xxxx xxxx x01x 0011_b	Switched on
xxxx xxxx x01x 0111_b	Operation enabled
xxxx xxxx x00x 0111_b	Quick stop active
xxxx xxxx x0xx 1111_b	Fault reaction active
xxxx xxxx x0xx 1000_b	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

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)