Access to the status word of the drive controller at the motion bus (CAN 2)

Question:

How can I access the status word of the drive controllers connected to the motion bus?

Answer:

In case of the ETCxC I can append 'CAN2 Antriebe' in the CoDeSys PLC configuration 'CAN2 Antriebe'.

Procedure:

In a new or existing project open the structure under the PLC configuration in the CoDeSys PLC configuration in tab Resources (see picture). Then select 'Append CAN2 Antriebe' by clicking 'Analoge IO-Module[FIX]' with the right mouse button.
Now the status words of the first 12 axes are available as word addresses.

The single bit assignments can be taken from the descriptions of the connected drive controllers.