DRV.MOTIONSTAT

Description

This command indicates the current status of the drive internal motion (see table below).

Bit

Significance

Description

0

0x00000001

Motion task is active (high active)

1

0x00000002

Home position found /reference point set (high active)

2

0x00000004

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

3

0x00000008

Homing active (high active)

4

0x00000010

Homing error condition has occurred (high active)*

5

0x00000020

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

6

0x00000040

Electronic gearing is active (high active)

7

0x00000080

Emergency stop procedure in progress (high active)

8

0x00000100

Emergency stop procedure has an error (high active)

9

0x00000200

Service motion active (high active)

10

0x00000400

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

11

0x00000800

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).


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

12

0x00001000

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

13

0x00002000

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.

14

0x00004000

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).

15 0x00008000

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


  • The difference between Bit 15 and Bit 11 is that Bit 15 does not wait until the trajectory is completed
16 0x00010000 AKD BASIC trajectory generator is executing a move.
17 0x00020000 AKD BASIC trajectory generator has completed a move.
18-20 - Reserved
21 0x00200000 Drive actual position is within the homing target position window HOME.TPOSWND.
22 0x00400000 Cogging compensation teach move is active (high active).

* A possible error condition for homing to a reference switch could be that no reference switch was found between two hardware limit switches.

** A possible error condition for an invalid motion task could be that a motion task tried to trigger automatically following motion task that has never been initialized (called an "empty motion" task).

General Information

Type

R/O Parameter

Units

N/A

Range

0 to 4,294,967,295

Default Value

N/A

Data Type

Integer

Start Version

M_01-00-00-000

Variants Supported

Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes*
AKD EtherNet/IP Yes
AKD PROFINET Yes
AKD Sercos® III Yes
AKD-N Yes
AKD-C No

*In SynqNet, a parameter may be available in the firmware but have no effect on the system. See SynqNet Supported Parameters.

Fieldbus Information

If your drive type is listed as supported but no index, address, or instance number is listed, then this parameter is accessible through WorkBench, but not over your fieldbus type. For information on SynqNet parameters see SynqNet Supported Parameters.

EtherCAT CoE and CANopen
Index/Subindex Object Start Version
3492h/0

M_01-00-00-000

PROFINET and Sercos® III
Fieldbus Address Attributes Signed?

PROFINET

2134 DWord No
Sercos® III 4 Octets
EtherNet/IP
Instance Data Size Data Type
135 4 Byte Integer
Modbus
Register Address Is 64 bit? Attributes Signed? Object Start Version
268 No 32 bit No M_01-03-00-000