AKD CANopen | 7 CANopen Drive Profile
7.2.1.3 Object 1002h: Manufacturer Status Register (DS301)
The manufacturer status register contains important drive informations.
Index 1002h
Name Manufacturer Status Register
Object code VAR
Data type UNSIGNED32
Category optional
Access R/O
PDO mapping possible
Value range UNSIGNED32
Default value no
The following table shows the bit assignment for the status register:
Bit Description Bit Description
0 1 = Movement (positioning, homing) active 16 1 = Homing move active
1 reference position set 17 reserved
2 1 = reference switch high (home-position) 18 reserved
3 1 = In Position 19 1 = Emergency stop active
4 reserved 20 reserved
5 reserved 21 reserved
6 reserved 22 reserved
7 Active Disabel activated 23 1 = Homing move finished
8 Warning active 24 Power stage deactivating
9 1 = target velocity reached (pp- or pv-Mode) 25 1 = digital input 1 set
10 reserved 26 1 = digital input 2 set
11 1 = Homing error 27 1 = digital input 3 set
12 reserved 28 1 = digital input 4 set
13 1 = Safe Torque Off selected 29 1 = digital input hardware enable set
14 1 = Power stage enabled 30 1 = Wake and Shake action is required
15 1 = Error state 31 Braking, 1 = set points not accepted
48 Kollmorgen™ | November 2012
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