Manual PD4-C (USB)12 Object directory descriptionVersion: 1.4.1 / 22.07.2016 / FIR-v1626 183DescriptionThis object controls the " DS402 Power State machine". The function of parts of the object aredepending on the currently selected mode.OMS [3]FR EV SOEO QSOMS HALT15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0SO (Switched On)Value = "1": Switches to the "Switched on" stateEV (Enable Voltage)Value = "1": Switches to the "Enable voltage" stateQS (Quick Stop)Value = "0": Switches the "Quick stop" stateEO (Enable Operation)Value = "1": Switches to the "Enable operation" stateOMS (Operation Mode Specific)Meaning depends on the selected operating modeFR (Fault Reset)Resets an error (if possible)HALTValue = "1": Triggers a stop, available in the following modes:• Profile Position• Velocity• Profile Velocity• Profile Torque6041h StatuswordFunctionThis object queries whether the state commanded with object 6040h (control word) has been reached.Object descriptionIndex 6041hObject Name StatuswordObject Code VARIABLEData type UNSIGNED16Saveable NoAccess Read onlyPDO Mapping TX - PDOAdmissible ValuesSpecified Value 0000hFirmware Version FIR-v1426Change History
