CANopen Status Word

The status machine for the control word corresponds to the CANopen status machine.

The status word is only updated and written by the drive in Safe-Op and Operational states.

Bits definition of the status word

Bit Name

0

Ready to switch on

1

Switched on

2

Operation enable

3

Fault

4

Voltage enabled

5

Quick stop

6

Switch on disabled

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)

Table 5-9: Bit Assignment in Status Word

The bit combinations coding the following states are listed in the table below.

Status word
MSBClosed "Most significant bit" Sometimes abbreviated as MSB, the most significant bit is the bit position in a binary number having the greatest value (15..12) (11 .. 8) (7 .. 4) (3 .. 0) LSBClosed "Least significant bit" Sometimes abbreviated as LSB, the least significant bit is the lowest bit in a series of numbers in binary; the LSB is located at the far right of a string. For example, in the binary number: 10111001, the least significant bit 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

Table 5-10: State Coding

Bits marked by an X are irrelevant

For more details about the Status Word in the AKD™ CANopen Communication, click here.

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