Index
(hex)
Sub
Pn No.
Name
Access
PDO Mapping
Default value
Units
Type
6040h 0 B11 Controlword 1 (STW1) RW RPZD 0 – UINT
6041h 0 B12 Statusword 1 (ZSW1) RO TPZD – – UINT
605Ah 0 B13 Quick Stop Option Code RW No 2 (Slow down on quick stop
ramp)
– INT
605Dh 0 B16 Halt Option Code RW No 3 (Slow down on max.
deceleration (60C6h))
– INT
605Eh 0 B17 Fault Reaction Option Code RW No 2 (Slow down on quick stop
ramp and turn the servo off)
– INT
6060h 0 B18 Modes of Operation RW RPZD 0 (no operation mode) – INT
6061h 0 B19 Modes of Operation Display RO TPZD – – INT
2503h 0 BB0 Controlword 2 (STW2) RW RPZD 0 – UINT
2504h 0 BB1 Statusword 2 (ZSW2) RO TPZD – – UINT
Transitions Transitions
State
Action (*)
Ramp Stop S4 ® S5 Slow down with the current Profile deceleration
(6084h).
Note:
The deceleration in PROFIdrive Velocity Mode
depends on STW1 bit 4:
n STW1 bit 4=0: Profile deceleration is
according to Parameter 605Dh (Default:
605Dh = Max. Deceleration)
n - STW1 bit 4=1: Profile deceleration
(6084h)
Coast Stop S4 ® S1 Servo off - Determined by Sigma-7 Pn001.0
Disable operation S4 ® S3 Servo off - Determined by Sigma-7 Pn001.0
Fault reaction active S4 ® S1 The Fault reactions are performed according to
the Fault Reaction Option Code (605Eh).
Note:
In case of a group 1 alarm or group 2 alarm the
stopping method is based on Pn001.0 and
Pn00B.1 parameter setting.
(*) The Servo off stopping method is determined by SERVOPACK Pn001.0. The Sigma-7
factory default setting is Stop by dynamic brake (Pn001.0=0) and for PROFIdrive
standard compliance the setting should be Pn001.0=2 Coast stop.
Related Objects
Unconfigurable PROFI-
drive State Machine Stop
Action
Sigma-7 Series SERVOPACKs
PROFIdrive Drive Profile
Device Control
| | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en | 500
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