Siemens SINAMICS S110 List Manual page 961

Bit 9 = 1 --> Ready to exchange process data
CANopen status word bit 8 = 0: from speed signals [8011.8] (r2197.7)
CANopen status word bit 8 = 1: from status word monitoring 3 [8010.8.8] (r2199.0)
From status word speed controller [2522]
From status word monitoring 2 [8010.8] (r2199.0)
<1> With setpoint channel: connect p2151 with r1119 [8011.2].
1 2
DO: SERVO
CANopen interface - Status word, CANopen
Bit No.
From sequence control [2610] 0
From sequence control [2610] 1
From sequence control [2610] 2
From fault buffer [8060] 3
From sequence control [2610] 4
From sequence control [2610] 5
From sequence control [2610] 6
From alarm buffer [8065] 7
p8785
(0) 8
9
10
11
12
13
p8786
(0) 14
p8787
(0) 15
3 4
Status word CANopen
1 = Ready to power-up
1 = Ready to operate (DC link loaded, pulses blocked)
1 = Operation enabled (drive follows n_set)
1 = Fault present
1 = No coast down active
1 = No fast stop active
1 = Power-on inhibit active
1 = Alarm present
Freely interconnectable (BI: p8785)
1 = Control requested
1 = Target reached <1>
1 = Torque limit reached
1 = Velocity equal to zero
Reserved
Freely interconnectable (BI: p8786)
Freely interconnectable (BI: p8787)
5 6
fp_9226_98_eng.vsd
14.06.12 V04.04.00
CAN bus sampling time
Refer to [1020.7]
Status word CANopen
r8784
7 8
Function diagram
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SINAMICS S110