Difference between revisions of "MC-Basic:axis.DRIVESTATUS"

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(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 29,30,31)
 
(One intermediate revision by the same user not shown)
Line 21: Line 21:
 
{{!}}-
 
{{!}}-
 
{{!}}0
 
{{!}}0
{{!}}style="background-color:#bddcfc"{{!}}14 & 15
+
{{!}}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"{{!}}14 & 15
+
{{!}}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"{{!}}14 & 15
+
{{!}}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"{{!}}13
+
{{!}}style="background-color:#bddcfc"{{!}}3
{{!}}Fault
 
{{!}}'''0 - ''' No fault in the system or drive stays enabled<br> '''1 - ''' Fault in the system and drive is disabled
 
{{!}}-
 
{{!}}
 
{{!}}style="background-color:#bddcfc"{{!}}19
 
 
{{!}}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"{{!}}14 & 15
+
{{!}}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"{{!}}12
+
{{!}}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"{{!}}3
+
{{!}}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>
 
{{!}}-
 
{{!}}-
{{!}}20
+
{{!}}
{{!}}style="background-color:#bddcfc"{{!}}20
+
{{!}}style="background-color:#bddcfc"{{!}}29
 
{{!}}Data invalid
 
{{!}}Data invalid
 
{{!}}'''0 - ''' motion bus data is valid<br> '''1 - ''' motion bus data is not valid - corrupted or missing<br>
 
{{!}}'''0 - ''' motion bus data is valid<br> '''1 - ''' motion bus data is not valid - corrupted or missing<br>
 
{{!}}-
 
{{!}}-
{{!}}22
+
{{!}}
{{!}}style="background-color:#bddcfc"{{!}}22
+
{{!}}style="background-color:#bddcfc"{{!}}30
{{!}}Limit Switch in Drive (from version 0.4.17.2)
+
{{!}}Limit Switch in Drive (from version 0.4.20.4)
{{!}}'''0 - ''' Limit switch is not active <br>'''1 - ''' Limit switch is active<br>
+
{{!}}'''0 - ''' Negative Limit switch is not active <br>'''1 - ''' Limit switch is active<br>
 +
{{!}}-
 +
{{!}}
 +
{{!}}style="background-color:#bddcfc"{{!}}31
 +
{{!}}Limit Switch in Drive (from version 0.4.20.4)
 +
{{!}}'''0 - ''' Positive Limit switch is not active <br>'''1 - ''' Limit switch is active<br>
 
{{!}}}
 
{{!}}}
  

Latest revision as of 16:40, 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
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


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