Difference between revisions of "MC-Basic:axis.DRIVESTATUS"
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|DESCRIPTION= | |DESCRIPTION= | ||
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> | ||
| + | You can find more information [http://servotronix.com/html/Help_CDHD_EN/HTML/home.htm#!Documents/6041hstatusword.htm HERE] | ||
<br> | <br> | ||
{{{!}}class = "wikitable" style="text-align: left" | {{{!}}class = "wikitable" style="text-align: left" | ||
| − | {{!}}'''Bit''' | + | {{!}}'''Bit - DS402''' |
| + | {{!}}'''Bit - MC Basic''' | ||
{{!}}'''Description ''' | {{!}}'''Description ''' | ||
{{!}} '''Values''' | {{!}} '''Values''' | ||
{{!}}- | {{!}}- | ||
| − | {{!}}15 | + | {{!}}0 |
| − | {{!}} | + | {{!}}14 & 15 |
| + | {{!}}Ready to switch on | ||
{{!}} | {{!}} | ||
| + | {{!}}- | ||
| + | {{!}}1 | ||
| + | {{!}}14 & 15 | ||
| + | {{!}}Switched on | ||
| + | {{!}} | ||
| + | {{!}}- | ||
| + | {{!}}2 | ||
| + | {{!}}14 & 15 | ||
| + | {{!}}Operation enabled | ||
| + | {{!}} | ||
| + | {{!}}- | ||
| + | {{!}}3 | ||
| + | {{!}}13 | ||
| + | {{!}}Fault | ||
| + | {{!}} | ||
| + | {{!}}- | ||
| + | {{!}}4 | ||
| + | {{!}}14 & 15 | ||
| + | {{!}}Voltage enabled | ||
| + | {{!}}'''0 - ''' High voltage applied <br> '''1 - ''' High voltage not applied | ||
| + | {{!}}- | ||
| + | {{!}}7 | ||
| + | {{!}}12 | ||
| + | {{!}}Warning | ||
| + | {{!}}'''NOTE''' - warning isn't an error | ||
| + | {{!}}- | ||
| + | {{!}}11 | ||
| + | {{!}}11 | ||
| + | {{!}}Internal limit active | ||
| + | {{!}}'''0 - ''' activated <br> '''1 - ''' not activated | ||
| + | {{!}}- | ||
| + | {{!}}12 | ||
| + | {{!}}3 | ||
| + | {{!}}Operation mode specific | ||
| + | {{!}} | ||
| + | {{!}}- | ||
| + | {{!}}20 | ||
| + | {{!}}20 | ||
| + | {{!}}Data invalid | ||
| + | {{!}}'''0 - ''' motion bus data is valid<br> '''1 - ''' motion bus data is not valid - corrupted or missing<br> | ||
{{!}}- | {{!}}- | ||
| + | {{!}}22 | ||
{{!}}22 | {{!}}22 | ||
{{!}}Limit Switch in Drive (from version 0.4.17.2) | {{!}}Limit Switch in Drive (from version 0.4.17.2) | ||
{{!}}'''0 - ''' Limit switch is not active <br>'''1 - ''' Limit switch is active<br> | {{!}}'''0 - ''' Limit switch is not active <br>'''1 - ''' Limit switch is active<br> | ||
| − | |||
| − | |||
| − | |||
| − | |||
{{!}}} | {{!}}} | ||
Revision as of 10:51, 26 September 2017
| Language: | [[::MC-Basic:axis.DRIVESTATUS|English]] • [[::MC-Basic:axis.DRIVESTATUS/zh-hans|中文（简体）]] |
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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.
You can find more information HERE
| Bit - DS402 | Bit - MC Basic | Description | Values |
| 0 | 14 & 15 | Ready to switch on | |
| 1 | 14 & 15 | Switched on | |
| 2 | 14 & 15 | Operation enabled | |
| 3 | 13 | Fault | |
| 4 | 14 & 15 | Voltage enabled | 0 - High voltage applied 1 - High voltage not applied |
| 7 | 12 | Warning | NOTE - warning isn't an error |
| 11 | 11 | Internal limit active | 0 - activated 1 - not activated |
| 12 | 3 | Operation mode specific | |
| 20 | 20 | Data invalid | 0 - motion bus data is valid 1 - motion bus data is not valid - corrupted or missing |
| 22 | 22 | Limit Switch in Drive (from version 0.4.17.2) | 0 - Limit switch is not active 1 - Limit switch is active |
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