CANopenStatus 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.
See Also
