Paste the statusword (0x6041) of a CANopen® or EtherCAT® CiA 402 drive. See the state, every bit and the controlword (0x6040) to send next. Runs in your browser.
Initialised, power stage off. This is where most drives wait after power-up or after a fault reset.
Bits 15 → 0. Underlined bits decide the state. Click a bit to flip it.
Send Shutdown: write 0x0006 to the controlword, then 0x0007 and 0x000F. If the drive stays here, look for an active STO / safe torque off input, missing DC bus voltage (bit 4), or a controlword with bit 2 (quick stop) at 0.
| Command | 0x6040 | Transition |
|---|---|---|
| Shutdown | 0x0006 | Switch on disabled → Ready to switch on |
| Switch on | 0x0007 | Ready to switch on → Switched on |
| Enable operation | 0x000F | Switched on → Operation enabled |
| Disable operation | 0x0007 | Operation enabled → Switched on |
| Disable voltage | 0x0000 | any powered state → Switch on disabled |
| Quick stop | 0x0002 | Operation enabled → Quick stop active |
| Fault reset | 0x0080 | Fault → Switch on disabled (0→1 edge on bit 7) |
The usual power-up sequence is 0x0006 → 0x0007 → 0x000F. Read the statusword after each step: a drive that does not reach the next state tells you why in its bits.
| xxxx xxxx x0xx 0000 | Not ready to switch on |
| xxxx xxxx x1xx 0000 | Switch on disabled |
| xxxx xxxx x01x 0001 | Ready to switch on |
| xxxx xxxx x01x 0011 | Switched on |
| xxxx xxxx x01x 0111 | Operation enabled |
| xxxx xxxx x00x 0111 | Quick stop active |
| xxxx xxxx x0xx 1111 | Fault reaction active |
| xxxx xxxx x0xx 1000 | Fault |
Bits 15 → 0; x = not used to decide the state.
CAN Servo Tool reads 0x6041 as the drive runs, decodes EMCY faults in plain text and walks a CiA 402 drive through the enable sequence for you — on Windows and Linux.
CANopen® is a registered trademark of CAN in Automation (CiA) e.V. EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.