Drive_Register

 This register contains info about drive motion status and enable the master network node guarding check.

Bit Explanation:

Motor_Running: This bit comes set (1) when the motor is running. If the electric gear is enabled, and the motor is at a standstill because the external frequency is null but the movement is not yet over, the bit is equal to 1.

This bit comes reset (0) when the motor stops.

Motor_Direction: This bit comes set (1) when the motor direction is backward.

This bit comes reset (0) when the motor direction is forward.

If the motor is at a standstill, the bit value corresponds to the direction of the last motor step executed.

Motor_Feedback_Error: This bit comes set (1) when the drive is in feedback error condition.

This bit comes reset (0) when the feedback error condition is cleared or feedback feature is not enabled (see §8.2 for details).

Motor_Busy: This bit comes set (1) when the motion cycle is in progress.

This bit comes reset (0) when the motion cycle has ended.

This bit is similar to Motor_Running except for homing movements.

Motor_Overrun: This bit comes set (1) when a limit switch intervention has been detected and one of the bits xxx_Limit_Switch_Check  of Drive_Working_Settings object is set. The bit remain set until the bit Master_Alarm_Reset of Master_Register object comes set. This bit comes reset (0) when no limit switches intervention has been detected or both the bits xxx_Limit_Switch_Check  of Drive_Working_Settings object are not set.

Motor_Movement_Not_Executed: This bit comes set (1) when the drive cannot perform a movement because either a protection is active (see Error_Register object) or the bit Master_Motor_Enable of Master_Register object is reset. The bit remain set until the bit Master_Alarm_Reset of Master_Register object comes set. This bit comes reset (0) while drive can perform  movements.

Drive_Protection: This bit comes set (1) when the Error_Register object is <> 0. The bit remain set until the bit Master_Alarm_Reset of Master_Register object comes set. This bit comes reset (0) while the Error_Register object is = 0.

SYNC_Armed: This bit comes set (1) when the drive have a pending MOVE/STOP with SYNC command and the Motor_SYNC object has not yet been set. This bit comes reset (0) when the drive have no pending MOVE/STOP with SYNC command.

Start_Trigger_Armed: This bit comes set (1) when the drive have a pending MOVE with Trigger command and the start trigger (see Drive_Inputs_Setting object) has not yet been detected. This bit comes reset (0) when the drive have no pending MOVE with Trigger command.

Stop_Trigger_Armed: This bit comes set (1) when the drive have a pending STOP with Trigger command and the stop trigger (see Drive_Inputs_Setting object) has not yet been detected. This bit comes reset (0) when the drive have no pending STOP with Trigger command.

Target_Reached: This bit comes set (1) when the drive’s current position is inside the defined position window (see Position_Window and Position_Window_Time objects). This bit comes reset (0) when the drive has not yet reached the target position.

Motor_Standby: This bit comes set (1) when the motor is running and the electric gear feature is enabled, but the motor is at a standstill because the external frequency is null. This bit comes reset (0) when the external frequency is not null or the electric gear feature is disabled.

Master_Watchdog_Timeouted:    This bit comes set (1) when the master did not wrote the Master_Register object  within Master_Watchdog_Timeout. The bit remain set until the bit Master_Alarm_Reset of Master_Register object comes set. This bit comes reset (0) while the master refresh the Master_Register object  within Master_Watchdog_Timeout.

Drive_Watchdog: This bit toggles (0/1) every Drive_Watchdog_Time.