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5.1.3. Object 6041: Statusword
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
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
PDS FSA state Statusword
Not ready to switch on xxxx xxxx x0xx 0000
Switch on disabled xxxx xxxx x1xx 0000
Ready to switch on xxxx xxxx x01x 0001
Switched on xxxx xxxx x01x 0011
Operation enabled xxxx xxxx x01x 0111
Quick stop active xxxx xxxx x00x 0111
Fault reaction active xxxx xxxx x0xx 1111
Fault xxxx xxxx x0xx 1000
5.1.4. Object 6042: vl_target_velocity
This object shall indicate the required velocity of the system. The value is given in revolutions per minute
(min
-1
). Positive values indicates forward direction and negative values indicates reverse direction.
At changing to “Operation enable” state, this target velocity is cleared. So set this target velocity data
after change the state to “Operation enable”.
5.1.5. Object 6043h: vl_velocity_demand
This object provides the instantaneous velocity generated by the ramp function. It is an internal object of
the drive device. The value is given in the same unit as the vl target velocity. Positive values indicates
forward direction and negative values indicates reverse direction.
5.1.6. Object 6044: vl_velocity_actual_value
This object provides the velocity at the motor spindle or load. Depending on the implementation (simple
drive device, without sensor, with sensor, etc.), the drive provides the appropriate image of the actual
velocity (velocity demand, velocity control effort, calculated velocity, measured velocity).
The value is given in the same unit as the vl_target_velocity. A positive value indicates forward direction
and negative values indicates reverse direction.
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