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).
|
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).
|
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.
Index/Subindex | Object Start Version |
---|---|
3492h/0 |
M_01-00-00-000 |
Fieldbus | Address | Attributes | Signed? |
---|---|---|---|
PROFINET |
2134 | DWord | No |
Sercos® III | 4 Octets |
Instance | Data Size | Data Type |
---|---|---|
135 | 4 Byte | Integer |
Register Address | Is 64 bit? | Attributes | Signed? | Object Start Version |
---|---|---|---|---|
268 | No | 32 bit | No | M_01-03-00-000 |