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>
+
{{{!}}class = "wikitable" style="text-align: center"
−
1: limit switch is active<br>
+
{{!}}'''Bit'''
−
0: limit switch is not active <br>
+
{{!}}'''Description '''
−
'''Bit 21''' -  Data invalid:<br>
+
{{!}} '''Values'''
−
0: motion bus data is valid<br>
+
{{!}}-
−
1: motion bus data is not valid - corrupted or missing<br>
+
{{!}}15
−
'''CAN and EtherCAT''' <br>
+
{{!}}'''CAN and EtherCAT''' <br> 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>
+
{{!}}
 +
{{!}}-
 +
{{!}}22
 +
{{!}}Limit Switch in Drive (from version 0.4.17.2)
 +
{{!}}'''0 - ''' Limit switch is not active <br>'''1 - ''' Limit switch is active<br>
 +
{{!}}-
 +
{{!}}21
 +
{{!}}Data invalid
 +
{{!}}'''0 - ''' motion bus data is valid<br> '''1 - ''' motion bus data is not valid - corrupted or missing<br>
 +
{{!}}}
  
−
'''Legacy SERCOS''' <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)
+
==='''Legacy SERCOS - <small><small>SERCOS only</small></small>'''===
 +
{{{!}} class = "wikitable" style="text-align: center"
 +
{{!}}'''Bit'''
 +
{{!}}'''Description '''
 +
{{!}} '''Values'''
 +
{{!}}-
 +
{{!}}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>
 +
{{!}}-
 +
{{!}}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
 +
{{!}}
 +
{{!}}-
 +
{{!}}7
 +
{{!}}Real-time status bit 2
 +
{{!}}
 +
{{!}}-
 +
{{!}}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)
 +
{{!}}-
 +
{{!}}11
 +
{{!}}Change bit for C3D
 +
{{!}}
 +
{{!}}-
 +
{{!}}12
 +
{{!}}Change bit for C2D
 +
{{!}}
 +
{{!}}-
 +
{{!}}13
 +
{{!}}Drive Shutdown - Error in C1D
 +
{{!}}
 +
{{!}}-
 +
{{!}}14
 +
{{!}}Drive status
 +
{{!}}'''0 - ''' disabled <br> '''1 - ''' enabled
 +
{{!}}-
 +
{{!}}15
 +
{{!}}Drive high power
 +
{{!}}'''0 - ''' high power off <br> '''1 - ''' high power on
  
−
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)<br>
 
−
 
−
'''Bit 6''' - Real-time status bit 1 (SERCOS only)<br>
 
−
 
−
'''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=
 
|TYPE=

Revision as of 11:57, 24 September 2017

Language: [[::MC-Basic:axis.DRIVESTATUS|English]]  • [[::MC-Basic:axis.DRIVESTATUS/zh-hans|中文（简体）‎]]

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 Description Values
15 CAN and EtherCAT
Reflect drive status object 0x6041/0 if mapped to PDO
22 Limit Switch in Drive (from version 0.4.17.2) 0 - Limit switch is not active
1 - Limit switch is active
21 Data invalid 0 - motion bus data is valid
1 - motion bus data is not valid - corrupted or missing


Legacy SERCOS - SERCOS only

Bit Description Values
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
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
7 Real-time status bit 2
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)
11 Change bit for C3D
12 Change bit for C2D
13 Drive Shutdown - Error in C1D
14 Drive status 0 - disabled
1 - enabled
15 Drive high power 0 - high power off
1 - high power on

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=131771"