Danfoss VLT series Programming Guide

7.2.1.9 Controlword in Cyclic Synchronous Velocity Mode
The operation mode-specic bits and the Halt bit in the Controlword are ignored by the servo drive. The Halt function is
controlled by the control device.
7.3 Statusword Object
7.3.1 Parameter 16-03 Statusword (0x6041)
This object provides the status of the state machine. The structure of the object is dened in Table 7.23. The oms bits are
supported if the mode of operation is supported. If the related functionality of the oms bits is not available, the
corresponding bit is 0. All implemented bits of the Statusword are valid regardless of the state of the state machine.
Attribute Value
Index 0x6041
LCP parameter number 16-03
Name Statusword
Object code Var
Data type UNSIGNED16
Sub-index 0x00
Access Read/write
PDO mapping Optional
Value range See tables in this chapter.
Default value –
Table 7.22 0x6041: 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
cs sto h
MSB LSB
Table 7.23 0x6041: Statusword
ms Manufacturer-specic
oms Operation mode specic
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
h Is homed
ce Command error
sto STO active
Table 7.24 Denition of Statusword Bits
Servo Drive Parameter Descr... Programming Guide
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Danfoss VLT series Specifications

General

Series	VLT
Category	DC Drives
Output Voltage	0-100% of input voltage
Protection Features	Overvoltage, Undervoltage, Overcurrent, Overtemperature, Short Circuit, Ground Fault
Communication Interfaces	Profibus, CANopen
Enclosure Rating	IP20, IP21, IP55, IP66
Cooling Method	Forced Air Cooling, Convection Cooling
Control Mode	Sensorless Vector, Closed Loop Vector
Ambient Temperature	-10°C to +50°C (14°F to 122°F)