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 (object 0x6041/0).
You can find more information at the CDHD manual or at the stepIM manual
| 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