Applied Motion ST10-C-CE - Manual (Page 46)

46 920-0025 Rev K
3/5/2015
CANopen User Manual
Here is the Command Structure:
Object Type Data Type Access Type PDO Mapping COS Default value
Var UNSIGNED16 wo yes yes 0
0x6041 StatusWord
The read only object “statusword” indicates the current status of the drive. Each bit is
mapped as follows:
MSB LSB
Bit
15
Bit
14
Bit
13
Bit
12
Bit
11
Bit
10
Bit
9
Bit
8
Bit
7
Bit
6
Bit
5
Bit
4
Bit
3
Bit
2
Bit
1
Bit
0
High-Byte L-Byte
Bit Name Mandatory
0 Ready to Switch On √
1 Switch On √
2 Operation Enabled √
3 Fault √
4 Voltage Disabled √
5 Quick Stop √
6 Switch On Disabled √
7 Temperature
8 Manufacturer Specific
9 Remote √
10 Target Reached √
11 Internal Limit Active √
12 Operation Mode Specific
13 Operation Mode Specific
14 Manufacturer Specific
15 Manufacturer Specific
Table 14: Bits in the statusword