CANopen Status Word

• The status machine The complete assembly of all connected parts or devices, of which at least one is movable. for the control word corresponds to the CANopen CANopen® is a communication protocol and device profile specification for embedded systems used in automation for fieldbuses working in real time. status machine.
• The status word is only updated and written by the drive In electrical engineering, a drive is an electronic device to provide power to a motor or servo. Control device for regulating the speed, torque and position of a motor. A unit controlling a motor using the current and timing in its coils. in Safe-Op and Operational states.

Bit Assignment in Status Word

Bit	Name
0	Ready to switch on
1	Switched on
2	Operation Enable Enable signal for the drive, Hardware-Enable with 24V signal to X8, Software-Enable command by setup Software, fieldbus or permanently set. Both are required for enabling the drive.
3	Fault
4	Voltage Enabled
5	Quick Stop
6	Switch On Disabled Removal of the ENABLE signal. Disables power stage.
7	Warning
8	Manufacturer-specific (reserved)
9	Remote (always 1)
10	Target Reached
11	Internal Limit Active
12	Operation-mode Specific (reserved)
13	Operation-mode Specific (reserved)
14	Manufacturer-specific (reserved)
15	Manufacturer-specific (reserved)

State Coding

These are the bit combinations coding the states.

Status Word MSB Most significant bit - The bit position in a binary number having the greatest value. (15..12) (11 .. 8) (7 .. 4) (3 .. 0) LSB Least significant bit - The lowest bit in a series of numbers in binary; the LSB is located at the far right of a string. Example: In the binary number: 10111001, the LSB is the far right 1.	State
xxxx xxxx x0xx 0000	Not ready to switch on
xxxx xxxx x1xx 0000	Switch on disabled
xxxx xxxx x01x 0001	Ready to switch on
xxxx xxxx x01x 0011	Switched on
xxxx xxxx x01x 0111	Operation enabled
xxxx xxxx x00x 0111	Quick stop active
xxxx xxxx x0xx 1111	Fault reaction active
xxxx xxxx x0xx 1000	Fault

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• Bits marked by an X are irrelevant.
  See the CANopen Object Dictionary web page for more information about the Control Word in the AKD™ CANopen Communication.

See Also