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

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{{Languages|MC-Basic:axis.DRIVESTATUS}}
 
{{MC-Basic
 
{{MC-Basic
 
|SHORT FORM=
 
|SHORT FORM=
Line 10: Line 11:
  
 
|DESCRIPTION=
 
|DESCRIPTION=
−
This read-only property queries the drive status. The drive status is returned every SERCOS communication cycle and comprises 32 bits. Following are the most important bit descriptions. (Refer to the SERCOS specifications for more details.)
+
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). <br>
 +
You can find more information at the [http://servotronix.com/html/Help_CDHD_EN/HTML/home.htm#!Documents/6041hstatusword.htm CDHD manual] or at the [http://www.servotronix.com/html/stepIM_Help/HTML/#!Documents/6041hstatusword.htm stepIM manual]
 +
<br>
 +
{{{!}}class = "wikitable" style="text-align: left"
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{{!}}'''Bit - DS402'''
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{{!}}style="background-color:#bddcfc"{{!}}'''axis.DRIVESTATUS'''
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{{!}}'''Description '''
 +
{{!}} '''Values'''
 +
{{!}}-
 +
{{!}}0
 +
{{!}}style="background-color:#bddcfc"{{!}}0
 +
{{!}}Ready to switch on
 +
{{!}}'''0 - ''' Doesn't ready to switch on <br> '''1 - ''' Ready to switch on
 +
{{!}}-
 +
{{!}}1
 +
{{!}}style="background-color:#bddcfc"{{!}}1
 +
{{!}}Switched on
 +
{{!}}'''0 - ''' Doesn't switched on <br> '''1 - ''' Switched on
 +
{{!}}-
 +
{{!}}2
 +
{{!}}style="background-color:#bddcfc"{{!}}2
 +
{{!}}Operation enabled
 +
{{!}}'''0 - ''' Disabled <br> '''1 - ''' Enabled
 +
{{!}}-
 +
{{!}}3
 +
{{!}}style="background-color:#bddcfc"{{!}}3
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{{!}}Fault
 +
{{!}}'''0 - ''' No fault in the system <br> '''1 - ''' Fault in the system
 +
{{!}}-
 +
{{!}}4
 +
{{!}}style="background-color:#bddcfc"{{!}}4
 +
{{!}}Voltage enabled
 +
{{!}}'''0 - ''' High voltage applied <br> '''1 - ''' High voltage not applied
 +
{{!}}-
 +
{{!}}7
 +
{{!}}style="background-color:#bddcfc"{{!}}7
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{{!}}Warning
 +
{{!}}'''NOTE''' - warning isn't an error
 +
{{!}}-
 +
{{!}}11
 +
{{!}}style="background-color:#bddcfc"{{!}}11
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{{!}}Internal limit active
 +
{{!}}'''0 - ''' activated <br> '''1 - ''' not activated
 +
{{!}}-
 +
{{!}}12
 +
{{!}}style="background-color:#bddcfc"{{!}}12
 +
{{!}}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>
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{{!}}-
 +
{{!}}
 +
{{!}}style="background-color:#bddcfc"{{!}}29
 +
{{!}}Data invalid
 +
{{!}}'''0 - ''' motion bus data is valid<br> '''1 - ''' motion bus data is not valid - corrupted or missing<br>
 +
{{!}}-
 +
{{!}}
 +
{{!}}style="background-color:#bddcfc"{{!}}30
 +
{{!}}Limit Switch in Drive (from version 0.4.20.4)
 +
{{!}}'''0 - ''' Negative Limit switch is not active <br>'''1 - ''' Limit switch is active<br>
 +
{{!}}-
 +
{{!}}
 +
{{!}}style="background-color:#bddcfc"{{!}}31
 +
{{!}}Limit Switch in Drive (from version 0.4.20.4)
 +
{{!}}'''0 - ''' Positive Limit switch is not active <br>'''1 - ''' Limit switch is active<br>
 +
{{!}}}
 +
<br>
  
−
Bit 15 - Drive high power. 1 - high power on<br>
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==='''AnyBus (legacy SERCOS)'''===
−
       Bit 14 - Drive status - 1 enabled, 0 disabled<br>
 
−
       Bit 13 - Drive Shutdown - Error in C1D<br>
 
−
       Bit 12 - Change bit for C2D<br>
 
−
       Bit 11 - Change bit for C3D
 
  
−
Bits 10, 9, 8 Actual operation mode
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{{{!}} class = "wikitable" style="text-align: left"
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{{!}} '''Bit'''
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{{!}} '''Description '''
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{{!}} '''Values'''
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{{!}} '''equivalent DS402'''
 +
{{!}}-
 +
{{!}}0
 +
{{!}}AHS
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{{!}}'''0''' or '''1''' - Service transport handshake of the drive
 +
{{!}}
 +
{{!}}-
 +
{{!}}1
 +
{{!}}Busy
 +
{{!}}'''0 - ''' Step finished, ready for new step<br/> '''1 - ''' Step in progress, new step not allowed<br/>
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{{!}}
 +
{{!}}-
 +
{{!}}2
 +
{{!}}Error in service channel
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{{!}}
 +
{{!}}
 +
{{!}}-
 +
{{!}}3
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{{!}} 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/>
 +
{{!}} 12 (mode specific)
 +
{{!}}-
 +
{{!}}4
 +
{{!}}Parameterization levels (PL1, PL2)
 +
{{!}}'''0 - ''' PL1 and PL2 not active.<br/> '''1 - ''' PL1 or PL2 active.
 +
{{!}}
 +
{{!}}-
 +
{{!}}5
 +
{{!}}Procedure command change bit
 +
{{!}}
 +
{{!}}
 +
{{!}}-
 +
{{!}}6
 +
{{!}}Real-time status bit 1 (LMS valid)
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{{!}}
 +
{{!}}
 +
{{!}}-
 +
{{!}}7
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{{!}}Real-time status bit 2 (LMS idle)
 +
{{!}}
 +
{{!}} not used
 +
{{!}}-
 +
{{!}}8, 9, 10
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{{!}}Actual operation mode  
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{{!}} '''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
 +
{{!}}Change bit for C3D
 +
{{!}}
 +
{{!}}
 +
{{!}}-
 +
{{!}}12
 +
{{!}}Change bit for C2D (Drive warning)
 +
{{!}}
 +
{{!}} 7
 +
{{!}}-
 +
{{!}}13
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{{!}}Drive Shutdown - Error in C1D
 +
{{!}}
 +
{{!}}
 +
{{!}}-
 +
{{!}} 14
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{{!}} Drive status
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{{!}} '''0 - ''' Disabled<br/> '''1 - ''' Enabled<br/> DS402: rtso AND so AND voltage_en AND oper_en
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{{!}} 0(RTS) and 1 (SO) and 2 (OE)
 +
{{!}}-
 +
{{!}} 15
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{{!}} Drive high power
 +
{{!}} '''0 - ''' High power off<br/> '''1 - ''' High power on<br/> DS402: rtso AND so AND voltage_en
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{{!}} 0 AND 1 AND 2 AND 4
 +
{{!}}-
 +
{{!}} 19
 +
{{!}} Fault
 +
{{!}}
 +
{{!}} 3 (FLT)
 +
{{!}}-
 +
{{!}} 29
 +
{{!}} Invalid Data
 +
{{!}}
 +
{{!}}
 +
{{!}}-
 +
{{!}} 30
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{{!}} Negative Limit Switch
 +
{{!}}
 +
{{!}}
 +
{{!}}-
 +
{{!}} 31
 +
{{!}} Positive Limit Switch
 +
{{!}}
 +
{{!}}
 +
{{!}}}
  
−
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)
+
|TYPE= Long
−
 
 
−
0 1 1 Secondary operation mode 3 (defined by IDN 35)
 
−
 
 
−
Bit 7 - Real-time status bit 2
 
−
 
 
−
Bit 6 - Real-time status bit 1
 
−
 
 
−
Bit 5 - Procedure command change bit
 
−
 
 
−
Bit 4 - Parameterization levels (PL1, PL2) .
 
−
 
 
−
0 - PL1 and PL2 not active .
 
−
 
 
−
1- PL1 or PL2 active
 
−
 
 
−
Bit 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
 
−
 
 
−
Bit 2 - Error in service channel
 
−
 
 
−
Bit 1 - Busy
 
−
 
 
−
0 Step finished, ready for new step
 
−
 
 
−
1 Step in progress, new step not allowed
 
−
 
 
−
Bit 0 - AHS . 0/1 Service transport handshake of the drive
 
−
 
 
−
|TYPE=
 
−
Long
 
  
 
|RANGE=
 
|RANGE=
−
 
  
 
|UNITS=
 
|UNITS=
−
 
  
 
|DEFAULT=
 
|DEFAULT=
  
 +
|SCOPE= Configuration, Task or Terminal
  
−
|SCOPE=
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|LIMITATIONS= Read only.<br/> '''SERCOS''': Valid only in SERCOS communication phase 4.<br/> '''EtherCAT''': Valid only in OP mode.<br/> '''EtherCAT and CAN''': Limit switch state is reflected in bit #22.
−
Configuration, Task or Terminal
 
  
−
|LIMITATIONS=
+
Bits 0,1,2,4,5,6,7,8,9,10,11,12 are applicable only to SERCOS<br/> '''EtherCAT/CANopen''':<br/> Bit 13: reflects state of bit #4 of status word (object 0x6041 subindex 0) and only if that object is mapped to PDO.
−
Read only. Executed only in SERCOS communication phase 4.
 
  
−
|EXAMPLE=
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|EXAMPLE=&nbsp;?a1.dstat
−
?a1.dstat<br>
 
  
−
If (a1.dstat band 2^14) Then                        ‘Check whether the drive is enabled
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If (a1.dstat band 2^14) Then&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ‘Check whether the drive is enabled
  
 
|SEE ALSO=
 
|SEE ALSO=
−
* [[MC-Basic:axis.DRIVECONTROL|axis.DRIVECONTROL]]
 
−
* [[MC-Basic:PROCEDURECHANGEBIT|axis.PROCEDURECHANGEBIT]]
 
−
* [[MC-Basic:axis.RTSB1 MODE|axis.RTSB1_MODE]]
 
−
* [[MC-Basic:axis.RTSB2 MODE|axis.RTSB2_MODE]]
 
  
 +
*[[MC-Basic:axis.DRIVECONTROL|axis.DRIVECONTROL]]
  
 
}}
 
}}

Latest revision as of 09:53, 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 (LMS valid)
7 Real-time status bit 2 (LMS idle) 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 (Drive warning) 7
13 Drive Shutdown - Error in C1D
14 Drive status 0 - Disabled
1 - Enabled
DS402: rtso AND so AND voltage_en AND oper_en 		0(RTS) and 1 (SO) and 2 (OE)
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
19 Fault 3 (FLT)
29 Invalid Data
30 Negative Limit Switch
31 Positive Limit Switch

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=133891"