Difference between revisions of "MC-Basic:axis.DRIVESTATUS"
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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> | 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> |
1: limit switch is active<br> | 1: limit switch is active<br> | ||
| − | 0: limit switch is not active<br> | + | 0: limit switch is not active <br> |
| − | Bit 21 - Data invalid:<br> | + | '''Bit 21''' - Data invalid:<br> |
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> | + | '''CAN and EtherCAT''' <br> |
| − | Bit 15..0 - Reflect drive status object 0x6041/0 if mapped to PDO<br> | + | '''Bit 15'''..0 - Reflect drive status object 0x6041/0 if mapped to PDO<br> |
| − | Legacy SERCOS <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> |
| − | Bit 13 - Drive Shutdown - Error in C1D<br> | + | '''Bit 13''' - Drive Shutdown - Error in C1D<br> |
| − | Bit 12 - Change bit for C2D (SERCOS only)<br> | + | '''Bit 12''' - Change bit for C2D (SERCOS only)<br> |
| − | Bit 11 - Change bit for C3D (SERCOS only)<br> | + | '''Bit 11''' - Change bit for C3D (SERCOS only)<br> |
| − | Bits 10, 9, 8 Actual operation mode (SERCOS only) | + | '''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) | ||
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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 (SERCOS only)<br> | + | '''Bit 7''' - Real-time status bit 2 (SERCOS only)<br> |
| − | Bit 6 - Real-time status bit 1 (SERCOS only)<br> | + | '''Bit 6''' - Real-time status bit 1 (SERCOS only)<br> |
| − | Bit 5 - Procedure command change bit (SERCOS only)<br> | + | '''Bit 5''' - Procedure command change bit (SERCOS only)<br> |
| − | Bit 4 - Parameterization levels (PL1, PL2) (SERCOS only)<br> | + | '''Bit 4''' - Parameterization levels (PL1, PL2) (SERCOS only)<br> |
0 - PL1 and PL2 not active . | 0 - PL1 and PL2 not active . | ||
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1- PL1 or PL2 active | 1- PL1 or PL2 active | ||
| − | Bit 3 - Status command value processing . | + | '''Bit 3''' - Status command value processing . |
0 - Drive ignores the command values (e.g., during Halt drive, drive controlled functions, programmed delay times) | 0 - Drive ignores the command values (e.g., during Halt drive, drive controlled functions, programmed delay times) | ||
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1 - Drive follows the command values | 1 - Drive follows the command values | ||
| − | Bit 2 - Error in service channel (SERCOS only)<br> | + | '''Bit 2''' - Error in service channel (SERCOS only)<br> |
| − | Bit 1 - Busy (SERCOS only)<br> | + | '''Bit 1''' - Busy (SERCOS only)<br> |
0 Step finished, ready for new step | 0 Step finished, ready for new step | ||
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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 (SERCOS only)<br> | + | '''Bit 0''' - AHS . 0/1 Service transport handshake of the drive (SERCOS only)<br> |
|TYPE= | |TYPE= | ||
Revision as of 12:45, 22 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