4.4.3 State Machine Bits (status word)
Bit assignment in the status word
Bit Name
Bit Name
0
Ready to switch on
8
Manufacturer-specific (reserved)
1
Switched on
9
Remote (always 1)
2
Operation enable
10
Target reached
3
Fault
11
Internal limit active
4
Voltage enabled
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 state 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
0
X
1
0
0
0
Fault reaction active
0
X
1
1
1
1
Quick stop active
0
0
0
1
1
1
Bits labeled
X
are irrelevant.
0
and
1
indicate the status of individual bits.
Description of the remaining bits in the status word
Bit 4:
voltage_enabled The DC-link voltage is present if this bit is set.
Bit 7:
warning There are several possible reasons for Bit 7 being set and this warning being
produced. The reason for this warning can be revealed by using the Object 20subindex man-
ufacturer warnings.
Bit 9:
remote is always set to 1, i.e. the drive can always communicate and be influenced via
the RS232 - interface.
Bit 10:
target_reached This is set when the drive has reached the target position.
Bit 11:
internal_limit_active This bit specifies that a movement was or is limited. In different
modes, different warnings cause the bit to be set.
AKD EtherCAT | 4 EtherCAT Profile
Kollmorgen | kdn.kollmorgen.com | October 2017
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