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.CMDAXIS#.PL.FB )| < AXIS#.SETTLE.P the value will be 1, otherwise 0

25

0x02000000

|(AXIS#.TRAJ.VCMDAXIS#.VL.FB )| < AXIS#.SETTLE.V the value will be 1, otherwise 0

* 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

Name

ID

Hex

Data Type

Access

Units

AXIS1.MOTIONSTAT

5025

13A1

Unsigned32

Read Only

-

AXIS2.MOTIONSTAT

70561

113A

Unsigned32

Read Only

-

PROFINET

Parameter

PNU

Data Type

Access

Units

AXIS#.MOTIONSTAT

5025

Unsigned32

Read Only

-