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

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(Added description and reference to EtherCAT, added data valid bit)
m (Text replace - "CANOpen" to "CANopen")
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Bits 0,1,2,4,5,6,7,8,9,10,11,12 are applicable only to SERCOS  <br>
 
Bits 0,1,2,4,5,6,7,8,9,10,11,12 are applicable only to SERCOS  <br>
'''EtherCAT/CANOpen''':<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.
 
Bit 13: reflects state of bit #4 of status word (object 0x6041 subindex 0) and only if that object is mapped to PDO.
  

Revision as of 08:29, 21 August 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

See Also