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 MSB  "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) LSB "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 |
Bits marked by an X are irrelevant
For more details about the Status Word in the AKD™ CANopen Communication, click here.
