Difference between revisions of "MC-Basic:axis.DRIVESTATUS"
(Added description and reference to EtherCAT, added data valid bit) |
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|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. | + | 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> |
| + | <br> | ||
| + | Bit 29- 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 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 | + | Bits 10, 9, 8 Actual operation mode (SERCOS only) |
0 0 0 Primary operation mode (defined by S-0-0032) | 0 0 0 Primary operation mode (defined by S-0-0032) | ||
| Line 28: | Line 32: | ||
0 1 1 Secondary operation mode 3 (defined by IDN 35) | 0 1 1 Secondary operation mode 3 (defined by IDN 35) | ||
| − | Bit 7 - Real-time status bit 2 | + | Bit 7 - Real-time status bit 2 (SERCOS only)<br> |
| − | Bit 6 - Real-time status bit 1 | + | Bit 6 - Real-time status bit 1 (SERCOS only)<br> |
| − | Bit 5 - Procedure command change bit | + | Bit 5 - Procedure command change bit (SERCOS only)<br> |
| − | Bit 4 - Parameterization levels (PL1, PL2) | + | Bit 4 - Parameterization levels (PL1, PL2) (SERCOS only)<br> |
0 - PL1 and PL2 not active . | 0 - PL1 and PL2 not active . | ||
| Line 46: | Line 50: | ||
1 - Drive follows the command values | 1 - Drive follows the command values | ||
| − | Bit 2 - Error in service channel | + | Bit 2 - Error in service channel (SERCOS only)<br> |
| − | Bit 1 - Busy | + | Bit 1 - Busy (SERCOS only)<br> |
0 Step finished, ready for new step | 0 Step finished, ready for new step | ||
| Line 54: | Line 58: | ||
1 Step in progress, new step not allowed | 1 Step in progress, new step not allowed | ||
| − | Bit 0 - AHS . 0/1 Service transport handshake of the drive | + | Bit 0 - AHS . 0/1 Service transport handshake of the drive (SERCOS only)<br> |
|TYPE= | |TYPE= | ||
| Line 72: | Line 76: | ||
|LIMITATIONS= | |LIMITATIONS= | ||
| − | Read only. | + | Read only. <br> |
| + | '''SERCOS''': Valid only in SERCOS communication phase 4.<br> | ||
| + | '''EtherCAT''': Valid only in OP mode.<br> | ||
| + | |||
| + | 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. | ||
|EXAMPLE= | |EXAMPLE= | ||
Revision as of 15:25, 24 July 2014
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.
Bit 29- Data invalid:
0: motion bus data is valid
1: motion bus data is not valid - corrupted or missing
Bit 15 - Drive high power. 1 - high power on
Bit 14 - Drive status - 1 enabled, 0 disabled
Bit 13 - Drive Shutdown - Error in C1D
Bit 12 - Change bit for C2D (SERCOS only)
Bit 11 - Change bit for C3D (SERCOS only)
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)
0 1 0 Secondary operation mode 2 (defined by IDN 34)
0 1 1 Secondary operation mode 3 (defined by IDN 35)
Bit 7 - Real-time status bit 2 (SERCOS only)
Bit 6 - Real-time status bit 1 (SERCOS only)
Bit 5 - Procedure command change bit (SERCOS only)
Bit 4 - Parameterization levels (PL1, PL2) (SERCOS only)
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)
Bit 1 - Busy (SERCOS only)
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)
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.
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