Parker TPDM - Object 6041 H: Statusword

Parker Hannifin Manufacturing Srl user’s manual TPDM
141
BITS 4, 5, 6 AND 8:
These bits are operation mode specific. The description is situated in the chapter of the special
mode. The following table gives an overview:
Bit
Operation mode
Velocity mode
Profile velocity mode
Profile torque mode
4
rfg enable
reserved
reserved
5
rfg unlock
reserved
reserved
6
rfg use ref
reserved
reserved
8
Halt
Halt
Halt
Table 5: Mode specific bits in the controlword
BITS 9, 10:
These bits are reserved for further use. They are inactive by setting to zero. If they have no
special function, they must be set to zero.
BITS 11, 12, 13, 14 AND 15:
These bits are manufacturer specific. Bit 15 is a command of the static brake.
12.1.2.2 Object 6041h: Statusword
The statusword indicates the current state of the drive. No bits are latched. The statusword
consist of bits for:
• the current state of the drive,
• the operating state of the mode and
• manufacturer specific options.
OBJECT DESCRIPTION
INDEX
6041h
Name
Statusword
Object Code
VAR
Data Type
UNSIGNED16
Category
Mandatory
ENTRY DESCRIPTION
Access
ro
PDO Mapping
Possible
Value Range
UNSIGNED16
Default Value
No