| ASCII - Command | TRJSTAT | |||
| Syntax Transmit | TRJSTAT | |||
| Syntax Receive | TRJSTAT <Data> | Available in | ||
| Type | Variable ro | MMI | Yes | |
| ASCII Format | Integer32 | CANBus Object Number | 3613 (hex) | |
| DIM | - | PROFIBUS PNU | 1875 (dec) IND = 1 (dec) | |
| Range | 0 .. 0xFFFFFFFF | DPR | 275 (dec) | |
| Default | - | |||
| Opmode | All | Data Type Bus/DPR | Integer32 | |
| Drive State | - | Weighting | ||
| Start Firmware | 1.0 | |||
| Configuration | No | Last Change of this Object | 2.3 | |
| Function Group | actual values | EEPROM | No | |
| Short Description | Status2 Information | |||
Description
| The TRJSTAT command returns the internal status information in the form of a bit-variable. The status information is primarily used for internal functions. Only the bits that are marked by an “*” can be used for external functions (control system). Bits 16 ... 20 are also mirrored in the DRVSTAT status variable. |
||
| Bit | Significance | Meaning |
| 0 | 0x00000001 | =1 the output INPOS2 is updated every msec |
| 1 | 0x00000002 | =1 At the end of the actual motion task, the drive outputs no IN-POSITION signal (a motion task sequence was activated. |
| 2* | 0x00000004 | =1 Toggle Bit "Motion task finished". Is toggled at the end of a motion task. The toggling of the Bit is done, if the target position is reached and the profile generator is switched off. This is different to the functionality of the IN-POSITION Bit. When the drive is switched on, this Bit is set to low. |
| 3...15 | reserved | |
| 16* | 0x00010000 | =1 Motion task active (position control) Is set, if a motion task is started( motion task, Jog, Homing). Is cleared, if a motion task has finished or is stopped (STOP). |
| 17* | 0x00020000 | =1 Reference point set Is set, if the homing move has successfully finished or if the feedback device is a multiturn encoder. Is cleared, when a homing move is started. see also bit no. 21 |
| 18* | 0x00040000 | =1 Home position Is high, if the homing switch is active, otherwise low. |
| 19* | 0x00080000 | =1 In-Position Is set, if the difference between the actual position and the target position is smaller than PEINPOS. Is cleared, if the distance is greater. |
| 20* | 0x00100000 | =1 Position latch activated (positive latch) Is set, if a positive edge at Latch input 2 (configured by IN2MODE=26) was detected. Is cleared, if the position is read by LATCH2P16 / LATCH2P32. |
| 21* | 0x00200000 | =1 Homing move is active Is set, if a Homing move was started. Is cleared, if the homing move is successful or stopped (STOP). |
| 22* | 0x00400000 | =1 Jog move active Is set, if a Jog move is started. Is cleared, if the Jog move is stopped. |
| 23 | 0x00800000 | =1 Position latch activated (negative latch) Is set, if a negative edge at Latch input 2 (configured by IN2MODE=26) was detected. Is cleared, if the position is read by LATCH2N16 / LATCH2N32. |
| 24 | 0x01000000 | =1 Emergency stop active Is set, if an emergency stop has occurred (DEC-phase after an error, active hardware limit switches, Input configured as Emergency stop with level low. |
| 25 | 0x02000000 | =1 position latch at input1 (positive transition), if a rising edge at input 1 is detected, when input1 is defined as latch input (IN1MODE=26). Is reset, if the latched position is read by LATCH1P16 or LATCH1P32. |
| 26 | 0x04000000 | =1 position latch at input1 (negative transition), if a falling edge at input 1 is detected, when input1 is defined as latch input (IN1MODE=26). Is reset, if the latched position is read by LATCH1N16 or LATCH1N32. |
| 27 | 0x08000000 | reserved |
| 28 | 0x10000000 | = 1 (REFDONE) This bit will be set at the end of the homing and the motor is on halt. = 0 This bit will be erased at the start at a motion task or homing. |
| 29 | 0x20000000 | =1 Amplifier is in acceleration stage of a motion task |
| 30 | 0x40000000 | =1 Amplifier is in deceleration stage of a motion task |