DRV.MOTIONSTAT

Motion task is active (high active)

Home position found /reference point set (high active)

Home routine finished (high active). Bits 1 and 2 both must be set to confirm that the homing process is complete.

Homing active (high active)

Homing error condition has occurred (high active)*

Slave in electronic gearing mode synchronized (high active). Synchronization can be controlled using GEAR.SYNCWND

Electronic gearing is active (high active)

Emergency stop procedure in progress (high active)

Emergency stop procedure has an error (high active)

Service motion active (high active)

A motion task could not be activated /invalid MT (high active)**

Bit 11 will be set after the motion task has finished it’s “trajectory” and the actual position is within the motion task target position window (MT.TPOSWND).

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• The difference between Bit 15 and Bit 11 is that Bit 15 does not wait until the trajectory is completed

Motion task target velocity has been reached. See also (high active).

Motion task encountered an exception. A motion task exception can happen during a static motion task activation, or during activation of motion task on the fly (when velocity is not zero). The status bit will be reset automatically on successful activation of any motion, or by a command DRV.CLRFAULT.

The target position of a motion task has been crossed. This situation occurs for motion tasks with a change on the fly when triggering the DRV.STOP command just before the reaching the target velocity of the current active motion task. The ramp-down procedure with the motion task deceleration ramp causes the target position to be crossed (high active).

Bit 15 will be set if the actual position is within the motion task target position window (MT.TPOSWND).

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• The difference between Bit 15 and Bit 11 is that Bit 15 does not wait until the trajectory is completed

R/O Parameter

N/A

0 to 4,294,967,295

N/A

Integer