DRV MOTIONSTAT

DRV.MOTIONSTAT

General Information
Type	R/O Parameter
Description	Reads the motion status of the drive.
Units	N/A
Range	0 to 4,294,967,295
Default Value	N/A
Data Type	Integer
See Also	N/A
Start Version	M_01-00-00-000

FieldbusA Fieldbus is an industrial network system for real-time distributed control (e.g. CAN or Profibus). It is a way of connecting instruments in a plant design	Index/Subindex	Object Start Version
EtherCATEtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs COE and CANopen	3492h/0	M_01-00-00-000

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	HomingThe Homing procedure allows, based on a position measurement, to set a position offset to the motor in order to ensure it is physically at the home position active (high active)
4	0x00000010	Homing error condition has occurred (high active)*
5	0x00000020	Slave in electronic gearing mode synchronized (high active)
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	Motion task target position has been reached. See also (high active).
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).

* 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).

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