BECKHOFF AX2000 CANopen communication profile - Manual (Page 55)

Bit assignment in the status word
Bit Name Bit Name
0 Ready to switch on 8 Manufacturer-specific (reserved)
1 Switched on 9 Remote (not supported)
2 Operation enable 10 Target reached
3 Fault (in preparation) 11 Internal limit active
4 Disable voltage 12 Operation mode specific (reserved)
5 Quick stop 13 Operation mode specific (reserved)
6 Switch on disabled 14 Manufacturer-specific (reserved)
7 Warning 15 Manufacturer-specific (reserved)
States of the status machine
State Bit 6
switch on
disable
Bit 5
quick stop
Bit 3
fault Bit 2
operation
enable
Bit 1
switched on
Bit 0
ready to
switch on
Not ready to switch on 0 X 0 0 0 0
Switch on disabled 1 X 0 0 0 0
Ready to switch on 0 1 0 0 0 1
Switched on 0 1 0 0 1 1
Operation enabled 0 1 0 1 1 1
Fault not supported at present
Fault reaction active
not suppor-
ted at pre-
sent
X X X X 15
Quick stop active 0 0 0 1 1 1
Bits marked by X are irrelevant
Description of the remaining bits in the status word
Bit 4: voltage_disable The DC-link voltage is present if this bit is canceled.
Bit 7: warning There are several possible reasons for Bit 7 being set and this warning being produ-
ced. The reason for this warning can be revealed by using the Object 1002
h
manufacturer-specific
status register. ( Þ 4.2.1.3)
Bit 8: Toggle–bit mode Jogging, Homing ,Position, Positioning (pp), Homing (hm)
The toggle-bit is always changed (i.e. set or reset) when a motion block has been successfully exe-
cuted (incrementally precise in the target position!). The bit is not toggled if a motion block is cance-
led (e.g. through the STOP command or a lag/following error). The evaluation of the toggle-bit can
be performed in combination with Bit 10 target reached (Object 6041
h
) and Bit 16 motion block
active (Object 1002
h
). Evaluation of this bit makes sense if no change in Bit 10 or 16 would be visi-
ble, because of the motion block data (very short or identical motion blocks).
Bit 9: remote is not supported at present
Bit 10: target_reached This is set when the drive has reached the target position.
Bit 11: internal_limit_active If bit 20 is set in parameter DRVCNFG, it will be set in the event of
the following warnings:
- Response Monitoring (n04)
- SW Limit Switch 1 (n06)
- SW Limit Switch 2 (n07)
- no reference point set (n09)
- P-STOP (n10)
- N-STOP (n11)
- Slot Warning (n13)
Bit 12: profile position mode setpoint acknowledge
digital speed modes velocity 0 detection (1 = speed = 0)
CANopen for AX2000/2500 55
BECKHOFF
07/2007
CANopen Drive Profile