Difference between revisions of "MC-Basic:axis.DRIVESTATUS"
(Removed x-reference to SERCOS legacy, added Limit switch bit) |
(Explained CAN and EtherCAT differences) |
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|DESCRIPTION= | |DESCRIPTION= | ||
| − | This read-only property queries the drive status. The drive status is returned every | + | This read-only property queries the drive status. The drive status is returned every bus cycle and comprises 32 bits. Following are the most important bit descriptions. <br> |
<br> | <br> | ||
Bit 22 - Limit Switch in Drive (from version 0.4.17.2):<br> | Bit 22 - Limit Switch in Drive (from version 0.4.17.2):<br> | ||
| Line 18: | Line 18: | ||
0: motion bus data is valid<br> | 0: motion bus data is valid<br> | ||
1: motion bus data is not valid - corrupted or missing<br> | 1: motion bus data is not valid - corrupted or missing<br> | ||
| + | CAN and EtherCAT <br> | ||
| + | Bit 15..0 - Reflect drive status object 0x6041/0 if mapped to PDO<br> | ||
| + | Legacy SERCOS <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 14 - Drive status - 1 enabled, 0 disabled<br> | ||
Revision as of 16:24, 5 February 2017
This read-only property queries the drive status. The drive status is returned every bus cycle and comprises 32 bits. Following are the most important bit descriptions.
Bit 22 - Limit Switch in Drive (from version 0.4.17.2):
1: limit switch is active
0: limit switch is not active
Bit 21 - Data invalid:
0: motion bus data is valid
1: motion bus data is not valid - corrupted or missing
CAN and EtherCAT
Bit 15..0 - Reflect drive status object 0x6041/0 if mapped to PDO
Legacy SERCOS
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.
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