NANOTEC PD4-C - 6041 h Statusword

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9 Description of the object dictionary

OMS [3]FR EV SOEO QSOMS HALT

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

SO (Switched On)

Value = "1": Switches to the "Switched on" state

EV (Enable Voltage)

Value = "1": Switches to the "Enable voltage" state

QS (Quick Stop)

Value = "0": Switches to the "Quick stop" state

EO (Enable Operation)

Value = "1": Switches to the "Enable operation" state

OMS (Operation Mode Specific)

Meaning is dependent on the selected operating mode

FR (Fault Reset)

Resets an error (if possible)

HALT

Value = "1": Triggers a halt; valid in the following modes:

●

Profile Position

●

Velocity

●

Profile Velocity

●

Profile Torque

●

Interpolated Position Mode

6041h Statusword

Function

This object returns information about the status of the CiA 402 Power State Machine.

Object description

Index 6041

Object name Statusword

Object Code VARIABLE

Data type UNSIGNED16

Savable no

Access read only

PDO mapping TX-PDO

Allowed values

Preset value 0000

Firmware version FIR-v1426

Change history

Version: 2.0.1 / FIR-v1650 206