AXIS#.MOTIONSTAT

Description

AXIS#.MOTIONSTAT is a bit-field that returns the current state of the motion on an axis.

Bit	Significance	Description
0	0x00000001	Motion task is active
1	0x00000002	Home position found
2	0x00000004	Home done. This bit is set after the home position is found and the axis has stopped moving. If there is an error during homing, this bit is not set.
3	0x00000008	Homing active. The axis is currently searching for the home position.
4	0x00000010	Homing error. When using modes 4, 5 or 6 this is generated if no home switch was found between the two hardware limit switches.
5	0x00000020	Slave in electronic gearing mode synchronized (high active).
6	0x00000040	Electronic gearing is active
7	0x00000080	Reserved.
8	0x00000100	Reserved.
9	0x00000200	Service motion active
10	0x00000400	A motion task could not be activated /invalid MT*
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 (AXIS#.SETTLE.P). 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. This bit will be set when a running motion task is at the slew velocity and the measured speed AXIS#.VL.FBFILTER is within AXIS#.SETTLE.V of the slew speed.
13	0x00002000	Motion task encountered an exception. An exception can occur when the specified velocity cannot be reached during the motion task, to avoid overshooting the final position. An exception can also occur when a new motion task begins before the current motion task reaches zero velocity, the new motion task causes a change in direction, and the transient motion during the direction change is large.
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 AXIS#.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 (AXIS#.SETTLE.P). The difference between Bit 15 and Bit 11 is that Bit 15 does not wait until the trajectory is completed.
16	0x00010000	Reserved.
17	0x00020000	Reserved.
18	0x00040000	Torque limitation active (e.g. Current limit reached, I2t)
21	0x00200000	Drive actual position is within the homing target position window AXIS#.SETTLE.P
22	0x00400000	Reserved.
23	0x00800000	Jog motion is active. AXIS#.JOG.MOVEN or AXIS#.JOG.MOVEP has been issued.
24	0x01000000	\|(AXIS#.PL.CMD – AXIS#.PL.FB )\| < AXIS#.SETTLE.P the value will be 1, otherwise 0
25	0x02000000	\|(AXIS#.TRAJ.VCMD – AXIS#.VL.FB )\| < AXIS#.SETTLE.V the value will be 1, otherwise 0
26	0x04000000	Motion is Settled. This bit will be 1 if both bits 24 (in position window) and 25 (in velocity window) are set for the duration specified by AXIS#.SETTLE.T.

* 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).

Versions

Action	Version	Notes
Implemented	02-00-00-000

General Information

Type	Read Only
Units	N/A
Range	0 to 4,294,967,295
Default Value	N/A
Data Type	Integer (bit-field)
Stored in Non-Volatile Memory	No

Variants Supported

All variants are supported.

Fieldbus Information

EtherCAT CoE and CANopen
Command	Index	SubIndex	Data Type	Units	Float Scale	Access	PDO Mappable
AXIS1.MOTIONSTAT	5000h	04h	Unsigned32	-	-	Read only	No
AXIS2.MOTIONSTAT	5100h	04h	Unsigned32	-	-	Read only	No

EtherNet/IP
ID	Instance	Attribute	Name	Data Type	Access	User Mappable
5025	1	5025 (0x13a1)	AXIS1.MOTIONSTAT	Unsigned32	Read Only	Yes
70561	2	5025 (0x13a1)	AXIS2.MOTIONSTAT	Unsigned32	Read Only	Yes

PROFINET
Parameter	PNU	Data Type	Access	Units
AXIS#.MOTIONSTAT	5025	Unsigned32	Read Only	-