AXIS#.SAFE.FUNCTIONSTATUS

Description

This value returns a bit field which contains a status for some safety functions. The bit field is described in the following table:

SMM1

Bit

Value

Contents

0

STO state

= 1 when STO is active

1

SSM state Instance 1

= 1 when SSM Instance 1 reports the speed in the given range

2

SSM state Instance 2

= 1 when SSM Instance 2 reports the speed in the given range

3

SOS state

= 1 when SOS is active

4

SSR Instance 1

= 1 while the speed is limited

5

SDIp status

= 1 when the motor is moving in positive direction

6

SDIn status

= 1 when the motor is moving in negative direction

7

Error active

= 1 when an error is active

8

SCA Instance 1

= 1 while the position is within the given limits

9

SCA Instance 2

= 1 while the position is within the given limits

10

SCA Instance 3

= 1 while the position is within the given limits

11

SLA state

= 1 while the limited acceleration is held

12

SAR Instance 3

= 1 while the acceleration is limited

13

SSR Instance 2

= 1 while the speed is limited

14

SSR Instance 3

= 1 while the speed is limited

15

Not used

Not used

16

SLS state Instance 1

= 1 while the limited speed is held

17

SLS state Instance 2

= 1 while the limited speed is held

18

SLS state Instance 3

= 1 while the limited speed is held

19

SS1 status Instance 1

= 1 while SS1 is active

20

SS1 status Instance 2

= 1 while SS1 is active

21

SS1 status Instance 3

= 1 while SS1 is active

22

SS2 status Instance 1

= 1 while SS2 is active

23

SS2 status Instance 2

= 1 while SS2 is active

24

SLI Instance 1

= 1 while the position is limited

25

SLI Instance 2

= 1 while the position is limited

26

SLI Instance 3

= 1 while the position is limited

27

SLP Instance 1

= 1 while the position is limited

28

SLP Instance 2

= 1 while the position is limited

29

SLP Instance 3

= 1 while the position is limited

30

SAR Instance 1

= 1 while the acceleration is limited

31

SAR Instance 2

= 1 while the acceleration is limited

32

SDIp active

= 1 when is not allowed to move in the positive direction

33

SDIn active

= 1 when is not allowed to move in the negative direction

 

 

SMM2

Bit

Value

Contents

0

STO state

= 1 when STO is active

1

SSM state Instance 1

= 1 when SSM Instance 1 reports the speed in the given range

2

SSM state Instance 2

= 1 when SSM Instance 2 reports the speed in the given range

3

SOS Instance 1

= 1 when SOS is active

4

SSR Instance 1

= 1 while the speed is limited

5

SDIp status

= 1 when the motor is moving in positive direction

6

SDIn status

= 1 when the motor is moving in negative direction

7

Error active

= 1 when an error is active

8

SCA Instance 1

= 1 while the position is within the given limits

9

SCA Instance 2

= 1 while the position is within the given limits

10

SCA Instance 3

= 1 while the position is within the given limits

11

SLA state

= 1 while the limited acceleration is held

12

SAR Instance 3

= 1 while the acceleration is limited

13

SSR Instance 2

= 1 while the speed is limited

14

SSR Instance 3

= 1 while the speed is limited

15

Not used

Not used

16

SLS state Instance 1

= 1 while the limited speed is held

17

SLS state Instance 2

= 1 while the limited speed is held

18

SLS state Instance 3

= 1 while the limited speed is held

19

SS1 status Instance 1

= 1 while SS1 is active

20

SS1 status Instance 2

= 1 while SS1 is active

21

SS1 status Instance 3

= 1 while SS1 is active

22

SS2 status Instance 1

= 1 while SS2 is active

23

SS2 status Instance 2

= 1 while SS2 is active

24

SLI Instance 1

= 1 while the position is limited

25

SLI Instance 2

= 1 while the position is limited

26

SLI Instance 3

= 1 while the position is limited

27

SLP Instance 1

= 1 while the position is limited

28

SLP Instance 2

= 1 while the position is limited

29

SLP Instance 3

= 1 while the position is limited

30

SAR Instance 1

= 1 while the acceleration is limited

31

SAR Instance 2

= 1 while the acceleration is limited

32

SDIp active

= 1 when is not allowed to move in the positive direction

33

SDIn active

= 1 when is not allowed to move in the negative direction

34

SOS Instance 2

= 1 when SOS is active

Versions

Action

Version

Notes

Implemented

02-05-03-002

General Information

Type

Read Only

Units

Bit field

Default Value

0

Data Type

U64

Stored in Non-Volatile Memory

No

Fieldbus Information

EtherCAT CoE and CANopen

Command

Index

SubIndex

Data Type

Units

Float Scale

Access

PDO Mappable

AXIS1.SAFE.FUNCTIONSTATUS

5007h

05h

Unsigned32

-

-

Read only

Yes

AXIS2.SAFE.ACTIVE

5107h

05h

Unsigned32

-

-

Read only

Yes