Parker Hannifin S.p.A S.B.C. Division
SLVDN User’s Manual
Page 141 of 181
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:
Operation mode
Bit
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.
13.1.2.2.
Object 6041
h
: 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