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

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(Removed x-reference to SERCOS legacy, added Limit switch bit)
 
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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. <br>
+
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"
 +
{{!}}'''Bit - DS402'''
 +
{{!}}style="background-color:#bddcfc"{{!}}'''axis.DRIVESTATUS'''
 +
{{!}}'''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
 +
{{!}}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
 +
{{!}}Warning
 +
{{!}}'''NOTE''' - warning isn't an error
 +
{{!}}-
 +
{{!}}11
 +
{{!}}style="background-color:#bddcfc"{{!}}11
 +
{{!}}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>
 +
{{!}}-
 +
{{!}}
 +
{{!}}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>
 
<br>
−
Bit 22 -  Limit Switch in Drive (from version 0.4.17.2):<br>
 
−
1: limit switch is active<br>
 
−
0: limit switch is not active<br>
 
−
Bit 21 -  Data invalid:<br>
 
−
0: motion bus data is valid<br>
 
−
1: motion bus data is not valid - corrupted or missing<br>
 
−
 
−
Bit 15 - Drive high power. 1 - high power on<br>
 
−
Bit 14 - Drive status - 1 enabled, 0 disabled<br>
 
−
Bit 13 - Drive Shutdown - Error in C1D<br>
 
−
Bit 12 - Change bit for C2D (SERCOS only)<br>
 
−
Bit 11 - Change bit for C3D (SERCOS only)<br>
 
−
 
−
Bits 10, 9, 8 Actual operation mode (SERCOS only)
 
−
 
−
0 0 0 Primary operation mode (defined by S-0-0032)
 
  
−
0 0 1 Secondary operation mode 1 (defined by IDN 33)
+
==='''AnyBus (legacy SERCOS)'''===
  
−
0 1 0 Secondary operation mode 2 (defined by IDN 34)
+
{{{!}} class = "wikitable" style="text-align: left"
 +
{{!}} '''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<br/> '''1 - ''' Step in progress, new step not allowed<br/>
 +
{{!}}
 +
{{!}}-
 +
{{!}}2
 +
{{!}}Error in service channel
 +
{{!}}
 +
{{!}}
 +
{{!}}-
 +
{{!}}3
 +
{{!}} 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)
 +
{{!}}
 +
{{!}}
 +
{{!}}-
 +
{{!}}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)<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
 +
{{!}}Drive Shutdown - Error in C1D
 +
{{!}}
 +
{{!}}
 +
{{!}}-
 +
{{!}} 14
 +
{{!}} Drive status
 +
{{!}} '''0 - ''' Disabled<br/> '''1 - ''' Enabled<br/> 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<br/> '''1 - ''' High power on<br/> 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
 +
{{!}}
 +
{{!}}
 +
{{!}}}
  
−
0 1 1 Secondary operation mode 3 (defined by IDN 35)
 
  
−
Bit 7 - Real-time status bit 2 (SERCOS only)<br>
+
  
−
Bit 6 - Real-time status bit 1 (SERCOS only)<br>
+
|TYPE= Long
−
 
 
−
Bit 5 - Procedure command change bit (SERCOS only)<br>
 
−
 
 
−
Bit 4 - Parameterization levels (PL1, PL2) (SERCOS only)<br>
 
−
 
 
−
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 (SERCOS only)<br>
 
−
 
 
−
Bit 1 - Busy (SERCOS only)<br>
 
−
 
 
−
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 (SERCOS only)<br>
 
−
 
 
−
|TYPE=
 
−
Long
 
  
 
|RANGE=
 
|RANGE=
−
 
  
 
|UNITS=
 
|UNITS=
−
 
  
 
|DEFAULT=
 
|DEFAULT=
  
 +
|SCOPE= Configuration, Task or Terminal
  
−
|SCOPE=
+
|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. <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.<br>
 
  
−
Bits 0,1,2,4,5,6,7,8,9,10,11,12 are applicable only to SERCOS  <br>
+
|EXAMPLE=&nbsp;?a1.dstat
−
'''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.
 
  
−
|EXAMPLE=
+
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
−
?a1.dstat<br>
 
  
−
If (a1.dstat band 2^14) Then                        ‘Check whether the drive is enabled
+
|SEE ALSO=
  
−
|SEE ALSO=
+
*[[MC-Basic:axis.DRIVECONTROL|axis.DRIVECONTROL]]  
−
* [[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"