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 "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.
  See the CANopen Object Dictionary web page for more information about the Control Word in the AKD™ CANopen Communication.

See Also