50EFh, 51EFh Axis1 manufacturer status
This object is a collection of status bits for the associated axis (see table below). Each sub-index after the sub-index 1 corresponds to one byte of the 4-byte status value to allow more efficient data packing on the CAN bus network if not all bits are required.
| Bit | Name | Bit | Name | Bit | Name | Bit | Name |
|---|---|---|---|---|---|---|---|
| 0 | 1 = Movement (position/homing) active | 8 | 1 = Warning active | 16 | 1 = Homing move active | 24 | 1 = Controlled stop in progress |
| 1 | 1 = Reference position set | 9 | 1 = Target velocity reached | 17 | Drive actual position is within the target position window AXIS#.SETTLE.P. | 25 | Reserved |
| 2 | 1 = Brake released | 10 | Reserved | 18 | AXIS#.HWLS.POSSTATE | 26 | 1 = SS1_1 is active/requested |
| 3 | 1 = In position | 11 | 1 = Homing error | 19 | 1 = Disable in process | 27 | 1 = SS1_2 is active/requested |
| 4 | 1 = Drive disabled | 12 | 1 = Motor stopped | 20 | AXIS#.HWLS.NEGSTATE | 28 | 1 = SS1_3 is active/requested |
| 5 | 1 = Fieldbus setpoints are ignored because of internal action in the drive (like controlled stop) | 13 | 1 = STO active | 21 | 1 when AXIS#.SWLS.STATE is 1 or 3 | 29 | 1 = HW enable set |
| 6 | 1 = Torque limitation active (e.g. Current limit reached, I2t) | 14 | 1 = Power stage enabled | 22 | 1 when AXIS#.SWLS.STATE is 2 or 3 | 30 | 1 = Wake and shake is armed and required |
| 7 | 1 = Controlled stop disable active | 15 | 1 = Fault active | 23 | 1 = Homing move finished | 31 | 1 = Brake is applied or being applied; no set-points allowed |
Axis 1
| Parameter | Index | Sub-Index | Data Type | Float Scale | Units | Access | PDO Mappable | SMM Versions |
|---|---|---|---|---|---|---|---|---|
| Highest sub-index supported | 50EFh | 0 | Unsigned8 | - | - | Read only | No | All |
| Axis1 manufacturer status | 50EFh | 1 | Unsigned32 | - | - | Read only | Yes | All |
| Axis1 manufacturer status bytes 1 | 50EFh | 2 | Unsigned8 | - | - | Read only | Yes | All |
| Axis1 manufacturer status bytes 2 | 50EFh | 3 | Unsigned8 | - | - | Read only | Yes | All |
| Axis1 manufacturer status bytes 3 | 50EFh | 4 | Unsigned8 | - | - | Read only | Yes | All |
| Axis1 manufacturer status bytes 4 | 50EFh | 5 | Unsigned8 | - | - | Read only | Yes | All |
Axis 2
| Parameter | Index | Sub-Index | Data Type | Float Scale | Units | Access | PDO Mappable | SMM Versions |
|---|---|---|---|---|---|---|---|---|
| Highest sub-index supported | 51EFh | 0 | Unsigned8 | - | - | Read only | No | All |
| Axis2 manufacturer status | 51EFh | 1 | Unsigned32 | - | - | Read only | Yes | All |
| Axis2 manufacturer status bytes 1 | 51EFh | 2 | Unsigned8 | - | - | Read only | Yes | All |
| Axis2 manufacturer status bytes 2 | 51EFh | 3 | Unsigned8 | - | - | Read only | Yes | All |
| Axis2 manufacturer status bytes 3 | 51EFh | 4 | Unsigned8 | - | - | Read only | Yes | All |
| Axis2 manufacturer status bytes 4 | 51EFh | 5 | Unsigned8 | - | - | Read only | Yes | All |
