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. Lower 16 bits reflect drive status word, i.e. the StatusWord (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
	29	Data invalid	0 - motion bus data is valid 1 - motion bus data is not valid - corrupted or missing
	30	Limit Switch in Drive (from version 0.4.20.4)	0 - Negative Limit switch is not active 1 - Limit switch is active
	31	Limit Switch in Drive (from version 0.4.20.4)	0 - Positive Limit switch is not active 1 - Limit switch is active

AnyBus (legacy SERCOS)

Bit	Description	Values	equivalent DS402
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	12 (mode specific)
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		not used
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)	not used
11	Change bit for C3D
12	Change bit for C2D		7(warning)
13	Drive Shutdown - Error in C1D
14	Drive status	0 - Disabled 1 - Enabled DS402: rtso AND so AND voltage_en AND oper_en	0(RTS) and 1 (SO) and 2 (OE)
15	Drive high power	0 - High power off 1 - High power on DS402: rtso AND so AND voltage_en	0 AND 1 AND 2 AND 4
21	Fault		3 (FLT) } 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 axis.DRIVECONTROL