50EFh, 51EFh Axis# 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 CANClosed"Controller area network" CAN is a broadcast, differential serial bus standard developed for connecting electronic control units. Each node is able to send and receive messages, but not simultaneously 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 = HomingClosedThe 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 move active 24 1 = Controlled stop in progress
1 1 = Reference position set 9 1 = Target velocity reached 17 Reserved 25 Reserved
2 1 = Brake released 10 Reserved 18 Reserved 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 Reserved 28 1 = SS1_3 is active/requested
5 1 = FieldbusClosedA 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 setpoints are ignored because of internal action in the drive (like controlled stop) 13 1 = STO active 21 Reserved 29 1 = HW enable set
6 1 = TorqueClosedTorque is the tendency of a force to rotate an object about an axis. Just as a force is a push or a pull, a torque can be thought of as a twist limitation active (e.g. Current limit reached, I2t) 14 1 = Power stage enabled 22 Reserved 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
Highest sub-index supported 50EFh 0h Unsigned8 - - Read only No
Axis1 manufacturer status 50EFh 1h Unsigned32 - - Read only Yes
Axis1 manufacturer status bytes 1 50EFh 2h Unsigned8 - - Read only Yes
Axis1 manufacturer status bytes 2 50EFh 3h Unsigned8 - - Read only Yes
Axis1 manufacturer status bytes 3 50EFh 4h Unsigned8 - - Read only Yes
Axis1 manufacturer status bytes 4 50EFh 5h Unsigned8 - - Read only Yes

Axis 2

Parameter Index Sub-Index Data Type Float Scale Units Access PDO Mappable
Highest sub-index supported 51EFh 0h Unsigned8 - - Read only No
Axis2 manufacturer status 51EFh 1h Unsigned32 - - Read only Yes
Axis2 manufacturer status bytes 1 51EFh 2h Unsigned8 - - Read only Yes
Axis2 manufacturer status bytes 2 51EFh 3h Unsigned8 - - Read only Yes
Axis2 manufacturer status bytes 3 51EFh 4h Unsigned8 - - Read only Yes
Axis2 manufacturer status bytes 4 51EFh 5h Unsigned8 - - Read only Yes