Difference between revisions of "MC-Basic:axis.DRIVESTATUS"
(according Bug 102615 : In case of Fault, do not automatically rise bit #13 (aka C1D) in Status, set bit #19 instead. Set bit #13 only when fault + disable.) |
(Fixed bits: dstat lover 16 bits reflect DS402 0x6041/0 object.) |
||
| Line 21: | Line 21: | ||
{{!}}- | {{!}}- | ||
{{!}}0 | {{!}}0 | ||
| − | {{!}}style="background-color:#bddcfc"{{!}} | + | {{!}}style="background-color:#bddcfc"{{!}}0 |
{{!}}Ready to switch on | {{!}}Ready to switch on | ||
{{!}}'''0 - ''' Doesn't ready to switch on <br> '''1 - ''' Ready to switch on | {{!}}'''0 - ''' Doesn't ready to switch on <br> '''1 - ''' Ready to switch on | ||
{{!}}- | {{!}}- | ||
{{!}}1 | {{!}}1 | ||
| − | {{!}}style="background-color:#bddcfc"{{!}} | + | {{!}}style="background-color:#bddcfc"{{!}}1 |
{{!}}Switched on | {{!}}Switched on | ||
{{!}}'''0 - ''' Doesn't switched on <br> '''1 - ''' Switched on | {{!}}'''0 - ''' Doesn't switched on <br> '''1 - ''' Switched on | ||
{{!}}- | {{!}}- | ||
{{!}}2 | {{!}}2 | ||
| − | {{!}}style="background-color:#bddcfc"{{!}} | + | {{!}}style="background-color:#bddcfc"{{!}}2 |
{{!}}Operation enabled | {{!}}Operation enabled | ||
{{!}}'''0 - ''' Disabled <br> '''1 - ''' Enabled | {{!}}'''0 - ''' Disabled <br> '''1 - ''' Enabled | ||
{{!}}- | {{!}}- | ||
{{!}}3 | {{!}}3 | ||
| − | {{!}}style="background-color:#bddcfc"{{!}} | + | {{!}}style="background-color:#bddcfc"{{!}}3 |
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
{{!}}Fault | {{!}}Fault | ||
{{!}}'''0 - ''' No fault in the system <br> '''1 - ''' Fault in the system | {{!}}'''0 - ''' No fault in the system <br> '''1 - ''' Fault in the system | ||
{{!}}- | {{!}}- | ||
{{!}}4 | {{!}}4 | ||
| − | {{!}}style="background-color:#bddcfc"{{!}} | + | {{!}}style="background-color:#bddcfc"{{!}}4 |
{{!}}Voltage enabled | {{!}}Voltage enabled | ||
{{!}}'''0 - ''' High voltage applied <br> '''1 - ''' High voltage not applied | {{!}}'''0 - ''' High voltage applied <br> '''1 - ''' High voltage not applied | ||
{{!}}- | {{!}}- | ||
{{!}}7 | {{!}}7 | ||
| − | {{!}}style="background-color:#bddcfc"{{!}} | + | {{!}}style="background-color:#bddcfc"{{!}}7 |
{{!}}Warning | {{!}}Warning | ||
{{!}}'''NOTE''' - warning isn't an error | {{!}}'''NOTE''' - warning isn't an error | ||
| Line 61: | Line 56: | ||
{{!}}- | {{!}}- | ||
{{!}}12 | {{!}}12 | ||
| − | {{!}}style="background-color:#bddcfc"{{!}} | + | {{!}}style="background-color:#bddcfc"{{!}}12 |
{{!}}Status command value processing | {{!}}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> | {{!}}'''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> | ||
Revision as of 16:26, 1 December 2019
| Language: | English • 中文（简体） |
|---|
This read-only property queries the drive status. The drive status is returned every bus cycle and comprises 32 bits. Lower 16 bits reflect drive status word (object 0x6041/0).
You can find more information at the CDHD manual or at the stepIM manual
| Bit - DS402 | axis.DRIVESTATUS | Description | Values |
| 0 | 0 | Ready to switch on | 0 - Doesn't ready to switch on 1 - Ready to switch on |
| 1 | 1 | Switched on | 0 - Doesn't switched on 1 - Switched on |
| 2 | 2 | Operation enabled | 0 - Disabled 1 - Enabled |
| 3 | 3 | Fault | 0 - No fault in the system 1 - Fault in the system |
| 4 | 4 | Voltage enabled | 0 - High voltage applied 1 - High voltage not applied |
| 7 | 7 | Warning | NOTE - warning isn't an error |
| 11 | 11 | Internal limit active | 0 - activated 1 - not activated |
| 12 | 12 | 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 |
| 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