Difference between revisions of "MC-Basic:axis.DRIVESTATUS"

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(added the keyword StatusWord so it will be found in case a user uses it instead of "status word".)
Line 78: Line 78:
  
  
−
==='''Legacy SERCOS - <small><small>SERCOS only</small></small>'''===  
+
==='''AnyBus (legacy SERCOS)'''===  
 
{{{!}} class = "wikitable" style="text-align: left"
 
{{{!}} class = "wikitable" style="text-align: left"
−
{{!}}'''Bit'''
+
{{!}} '''Bit'''
−
{{!}}'''Description '''
+
{{!}} '''Description '''
 
{{!}} '''Values'''
 
{{!}} '''Values'''
 +
{{!}} '''equivalent DS402'''
 
{{!}}-
 
{{!}}-
 
{{!}}0
 
{{!}}0
 
{{!}}AHS
 
{{!}}AHS
 
{{!}}'''0''' or '''1''' - Service transport handshake of the drive
 
{{!}}'''0''' or '''1''' - Service transport handshake of the drive
 +
{{!}}
 
{{!}}-  
 
{{!}}-  
 
{{!}}1
 
{{!}}1
 
{{!}}Busy
 
{{!}}Busy
 
{{!}}'''0 - ''' Step finished, ready for new step <br> '''1 - ''' Step in progress, new step not allowed <br>
 
{{!}}'''0 - ''' Step finished, ready for new step <br> '''1 - ''' Step in progress, new step not allowed <br>
 +
{{!}}
 
{{!}}-
 
{{!}}-
 
{{!}}2
 
{{!}}2
 
{{!}}Error in service channel
 
{{!}}Error in service channel
 
{{!}}
 
{{!}}
 +
{{!}}
 
{{!}}-
 
{{!}}-
 
{{!}}3
 
{{!}}3
−
{{!}}Status command value processing
+
{{!}} Status command value processing  
−
{{!}} '''0 - ''' Drive ignores the command values <br> (e.g., during Halt drive, drive controlled functions, programmed delay times) <br> '''1 - '''Drive follows the command values <br>
+
{{!}}'''0 - ''' Drive ignores the command values <br> (e.g., during Halt drive, drive controlled functions, programmed delay times) <br> '''1 - '''Drive follows the command values <br>
 +
{{!}} 12 (mode specific)
 
{{!}}-
 
{{!}}-
 
{{!}}4
 
{{!}}4
−
{{!}}Parameterization levels (PL1, PL2)
+
{{!}}Parameterization levels (PL1, PL2)  
 
{{!}}'''0 - ''' PL1 and PL2 not active. <br> '''1 - ''' PL1 or PL2 active.
 
{{!}}'''0 - ''' PL1 and PL2 not active. <br> '''1 - ''' PL1 or PL2 active.
 +
{{!}}
 
{{!}}-
 
{{!}}-
 
{{!}}5
 
{{!}}5
 
{{!}}Procedure command change bit
 
{{!}}Procedure command change bit
 +
{{!}}
 
{{!}}
 
{{!}}
 
{{!}}-
 
{{!}}-
 
{{!}}6
 
{{!}}6
 
{{!}}Real-time status bit 1
 
{{!}}Real-time status bit 1
 +
{{!}}
 
{{!}}
 
{{!}}
 
{{!}}-
 
{{!}}-
Line 115: Line 123:
 
{{!}}Real-time status bit 2
 
{{!}}Real-time status bit 2
 
{{!}}
 
{{!}}
 +
{{!}} not used
 
{{!}}-
 
{{!}}-
 
{{!}}8, 9, 10
 
{{!}}8, 9, 10
 
{{!}}Actual operation mode
 
{{!}}Actual operation mode
−
{{!}}'''0 0 0 - ''' Primary operation mode (defined by S-0-0032) <br> '''0 0 1 - '''Secondary operation mode 1 (defined by IDN 33) <br> '''0 1 0 - ''' Secondary operation mode 2 (defined by IDN 34) <br> '''0 1 1 - ''' Secondary operation mode 3 (defined by IDN 35)
+
{{!}} '''0 0 0 - ''' Primary operation mode (defined by S-0-0032) <br> '''0 0 1 - '''Secondary operation mode 1 (defined by IDN 33) <br> '''0 1 0 - ''' Secondary operation mode 2 (defined by IDN 34) <br> '''0 1 1 - ''' Secondary operation mode 3 (defined by IDN 35)
 +
{{!}} not used
 
{{!}}-
 
{{!}}-
 
{{!}}11
 
{{!}}11
 
{{!}}Change bit for C3D
 
{{!}}Change bit for C3D
 +
{{!}}
 
{{!}}
 
{{!}}
 
{{!}}-
 
{{!}}-
Line 127: Line 138:
 
{{!}}Change bit for C2D
 
{{!}}Change bit for C2D
 
{{!}}
 
{{!}}
 +
{{!}} 7(warning)
 
{{!}}-
 
{{!}}-
 
{{!}}13
 
{{!}}13
 
{{!}}Drive Shutdown - Error in C1D
 
{{!}}Drive Shutdown - Error in C1D
 
{{!}}
 
{{!}}
 +
{{!}}0(RTS) and 1 (SO) and 2 (OE)
 
{{!}}-
 
{{!}}-
 
{{!}}14
 
{{!}}14
 
{{!}}Drive status
 
{{!}}Drive status
 
{{!}}'''0 - ''' Disabled <br> '''1 - ''' Enabled <br> DS402: rtso AND so AND voltage_en AND oper_en
 
{{!}}'''0 - ''' Disabled <br> '''1 - ''' Enabled <br> DS402: rtso AND so AND voltage_en AND oper_en
 +
{{!}} 0 AND 1 AND 4
 
{{!}}-
 
{{!}}-
 
{{!}}15
 
{{!}}15
 
{{!}}Drive high power
 
{{!}}Drive high power
 
{{!}}'''0 - ''' High power off <br> '''1 - ''' High power on <br> DS402: rtso AND so AND voltage_en
 
{{!}}'''0 - ''' High power off <br> '''1 - ''' High power on <br> DS402: rtso AND so AND voltage_en
−
 
+
{{!}}} 0 AND 1 AND 2 AND 4
−
{{!}}}
+
{{!}}-
 +
{{!}}21
 +
{{!}}Fault
 +
{{!}}
 +
{{!}} 3 (FLT)
 +
}
  
  

Revision as of 07:02, 25 July 2022

Language: English  • 中文（简体）‎

This read-only property queries the drive status. The drive status is returned every bus cycle and comprises 32 bits. Lower 16 bits reflect drive status word, i.e. the StatusWord (object 0x6041/0).
You can find more information at the CDHD manual or at the stepIM manual

Bit - DS402 axis.DRIVESTATUS Description Values
0 0 Ready to switch on 0 - Doesn't ready to switch on
1 - Ready to switch on
1 1 Switched on 0 - Doesn't switched on
1 - Switched on
2 2 Operation enabled 0 - Disabled
1 - Enabled
3 3 Fault 0 - No fault in the system
1 - Fault in the system
4 4 Voltage enabled 0 - High voltage applied
1 - High voltage not applied
7 7 Warning NOTE - warning isn't an error
11 11 Internal limit active 0 - activated
1 - not activated
12 12 Status command value processing 0 - Drive ignores the command values
(e.g., during Halt drive, drive controlled functions, programmed delay times)
1 - Drive follows the command values
29 Data invalid 0 - motion bus data is valid
1 - motion bus data is not valid - corrupted or missing
30 Limit Switch in Drive (from version 0.4.20.4) 0 - Negative Limit switch is not active
1 - Limit switch is active
31 Limit Switch in Drive (from version 0.4.20.4) 0 - Positive Limit switch is not active
1 - Limit switch is active


AnyBus (legacy SERCOS)

Bit Description Values equivalent DS402
0 AHS 0 or 1 - Service transport handshake of the drive
1 Busy 0 - Step finished, ready for new step
1 - Step in progress, new step not allowed
2 Error in service channel
3 Status command value processing 0 - Drive ignores the command values
(e.g., during Halt drive, drive controlled functions, programmed delay times)
1 - Drive follows the command values
12 (mode specific)
4 Parameterization levels (PL1, PL2) 0 - PL1 and PL2 not active.
1 - PL1 or PL2 active.
5 Procedure command change bit
6 Real-time status bit 1
7 Real-time status bit 2 not used
8, 9, 10 Actual operation mode 0 0 0 - Primary operation mode (defined by S-0-0032)
0 0 1 - Secondary operation mode 1 (defined by IDN 33)
0 1 0 - Secondary operation mode 2 (defined by IDN 34)
0 1 1 - Secondary operation mode 3 (defined by IDN 35) 		not used
11 Change bit for C3D
12 Change bit for C2D 7(warning)
13 Drive Shutdown - Error in C1D 0(RTS) and 1 (SO) and 2 (OE)
14 Drive status 0 - Disabled
1 - Enabled
DS402: rtso AND so AND voltage_en AND oper_en 		0 AND 1 AND 4
15 Drive high power 0 - High power off
1 - High power on
DS402: rtso AND so AND voltage_en
0 AND 1 AND 2 AND 4

|- |21 |Fault | | 3 (FLT) }

Short form

<axis>.DStat

Syntax

?<axis>.DriveStatus

Availability

All versions

Type

Long

Scope

Configuration, Task or Terminal

Limitations

Read only.
SERCOS: Valid only in SERCOS communication phase 4.
EtherCAT: Valid only in OP mode.
EtherCAT and CAN: Limit switch state is reflected in bit #22.

Bits 0,1,2,4,5,6,7,8,9,10,11,12 are applicable only to SERCOS
EtherCAT/CANopen:
Bit 13: reflects state of bit #4 of status word (object 0x6041 subindex 0) and only if that object is mapped to PDO.

Examples

?a1.dstat

If (a1.dstat band 2^14) Then                        ‘Check whether the drive is enabled

See Also

Retrieved from "http://softmc.servotronix.com/index.php?title=MC-Basic:axis.DRIVESTATUS&oldid=133887"