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.

Bit Assignment in 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)

State Coding

These are the bit combinations coding the states.

Status Word

MSB (15..12) (11 .. 8) (7 .. 4) (3 .. 0) LSB

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


  • 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.

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