| ASCII - Command | DRVSTAT | |||
| Syntax Transmit | DRVSTAT | |||
| Syntax Receive | DRVSTAT <Data> | Available in | ||
| Type | Variable ro | MMI | Yes | |
| ASCII Format | Integer32 | CANBus Object Number | 352D (hex) | |
| DIM | - | PROFIBUS PNU | 1645 (dec) IND = 1 (dec) | |
| Range | 0 .. 0xFFFFFFFF | DPR | 45 (dec) | |
| Default | - | |||
| Opmode | All | Data Type Bus/DPR | Integer32 | |
| Drive State | - | Weighting | ||
| Start Firmware | 1.77 | |||
| Configuration | No | Last Change of this Object | 2.0 | |
| Function Group | Drive Status | EEPROM | No | |
| Short Description | internal Status information | |||
Description
| The DRVSTAT command returns the internal status information in the form of a bit-variable. | ||
| Bit/Display/Level | Bit kombination | Description |
| 0 / n01 / 0 | 0x00000001 | =1 I2T threshold exceed. Is high, if I2T is greater than the adjusted threshold for I2TLIM, otherwise low. |
| 1 / n02 / 0 | 0x00000002 | =1 Regen message. Is high, if the actual regen power exceeds the adjusted threshold PBALMAX, otherwise low. |
| 2 / n03 / 1 | 0x00000004 | =1 following error. Is set, if the distance between the actual position and the target position of the trajectory generator is greater than the contouring error window PEMAX. Is cleared by the command CLRFAULT or by an digital input with INxMODE=14. Note: Running the position modes (OPMODE = 4 or 8) a position following error will cause "n03". If you run the drive with an external trajectory, i.e. OPMODE = 5 or 6 a "Contouring Error" "F03" will occur and means that the step caused by the trajectory causes a speed above VLIM or VLIMN. |
| 3 / n04 / 1 | 0x00000008 | =1 Node guarding (watch dog). Is set, if the Bus (PROFIBUS or CAN) or the Slotcard has no communication to the master for the adjusted time EXTWD. Is cleared by the command CLRFAULT or by an digital input with INxMODE=14. |
| 4 / n05 / 0 | 0x00000010 | =1 Line phase missing. Is high, if one or all of the three input line phase are lost, otherwise low. |
| 5 / n06 / 1 | 0x00000020 | =1 Software limit switch 1 (SWE1) underrun. Is set if: - the position is lower than SWE1 - a motion task is started which has a target position lower than SWE1. At the same time the bit "faulty motion task" is set. the bit is cleared if: - the actual position overruns SWE1 and a positive velocity is given - a motion task is started which has a target position greater than SWE1. |
| 6 / n07 / 1 | 0x00000040 | =1 Software limit switch 2 (SWE2) overrun. Is set if: - the position is higher than SWE2 - a motion task is started which has a target position higher than SWE2. At the same time the bit "faulty motion task" is set. the bit is cleared if: - the actual position underruns SWE2 and a negative velocity is given - a motion task is started which has a target position smaller than SWE2. |
| 7 / n08 / 0 | 0x00000080 | =1 Faulty motion task was started Is set, if a faulty motion task (wrong checksum) is started. Is cleared, if a valid motion task is started. |
| 8 / n09 / 0 | 0x00000100 | =1 No reference point. Is set, is a motion task is started without starting a refernce move before. Is cleared, if a refernce move is started. |
| 9 / n10 / 1 | 0x00000200 | = 1 PSTOP active. Is high, if the hardware limit switch PSTOP is active, otherwise low. |
| 10 / n11 / 1 | 0x00000400 | = 1 NSTOP active. Is high, if the hardware limit switch NSTOP is active, otherwise low. |
| 11 / n12 / 0 | 0x00000800 | =1 Default motor data loaded. Is set, if the motor number stored in the EEPROM of the drive is not the same as the motor number stored in the feedback system (EnDAT or Hiperface). By saving the drive parameter (SAVE) and restart the drive, the warning disappears. |
| 12 / n13 / 1 | 0x00001000 | =1 Slot warning (I/-expansion board). Is high, if the external 24V supply of the I/O expansion board is missing, otherwise low. |
| 13 / n14 / 0 | 0x00002000 | =1 Scanning for MPHASE (FBTYPE=7) Is set while start-up of the drive and is cleared after the drive was enabled and MPHASE was determined. |
| 14 / n15 / 0 | 0x00004000 | =1 Faulty VCT entry was selected. Is set, if INxMODE=35 is selected, and a faulty VCT entry is started. |
| 15 / n16 / 0 | 0x00008000 | Is active, if one or more of the warnings n17...n31 are active. |
| 16 | 0x00010000 | =1 Motion task active. Is set, if a motion task is started (motion task, jog or homing move). Is cleared, if the action is finished or a STOP - command is executed. |
| 17 | 0x00020000 | =1 Reference point is set. Is set, if the homing move was done or a absolute encoder feedback device is used. Is cleared if a homing move is started. |
| 18 | 0x00040000 | =1 Home switch. Is high, if the homing switch is closed, otherwise low. |
| 19 | 0x00080000 | =1 In-Position. Is high, if the distance between the target position and the actual position is smaller than PEINPOS, otherwise low. When several motion tasks are tied together, only the last motion task enables this bit. |
| 20 | 0x00100000 | =1 Position latch occurred (positive edge). Is set, if a positive edge at the latch input (Input2 with IN2MODE=26) was detected. Is cleared, if the lachted position was read (LATCH16/ LATCH32). |
| 21 | 0x00200000 | =1 Position register 0. Is high, if the configurated condition (SWCNFG2, SWE0, SWE0N) is true, otherwise low (See SWCNFG2). |
| 22 | 0x00400000 | =1 Position register 1. Is high, if the configurated condition (SWCNFG, SWE1, SWE1N) is true, otherwise low (See SWCNFG). |
| 23 | 0x00800000 | =1 Position register 2. Is high, if the configurated condition (SWCNFG, SWE2, SWE2N) is true, otherwise low (See SWCNFG). |
| 24 | 0x01000000 | =1 Position register 3. Is high, if the configurated condition (SWCNFG, SWE3, SWE3N) is true, otherwise low (See SWCNFG). |
| 25 | 0x02000000 | =1 Position register 4. Is high, if the configurated condition (SWCNFG, SWE4, SWE4N) is true, otherwise low (See SWCNFG). |
| 26 | 0x04000000 | =1 Initialization phase finished. Is set, if the initialization phase of the drive is finished (takes about 15s). |
| 27 | 0x08000000 | =1 Position register 5. Is high, if the configurated condition (SWCNFG2, SWE5, SWE5N) is true, otherwise low (See SWCNFG2). |
| 28 | 0x10000000 | =1 Motor stand still message. Is high, if the actual motor velocity is lower than the threshold VEL0, otherwise low. |
| 29 | 0x20000000 | =1 Safety relais selected. Is high, if the safety relay of the option -AS- is switched on, otherwise low. |
| 30 | 0x40000000 | = Output stage enabled. Is high, if the soft- and the hardware enable is present, otherwise low. |
| 31 | 0x80000000 | =1 Drive has an error state. Is set, if the drive has a fault (output stage is disabled, error number is displayed). The command ERRCODE gives the error in plain text. The bit is cleared, if the drive is reset or the command CLRFAULT is send. |