will output the drive status detail words to the serial port. Five words are transferred in ASCII-HEX format, with each word preceded by the letter ‘H’. The words are separated by a space.
The following tables break the status words down bit by bit (bit 15 = MSB; bit 0 = LSB; n/u = not used). For all bits, 0=false and 1=true.
STATUS Word 1: Disable Status Word
If the drive is disabled (Bit 0 of the STAT word = 1), the process(es) which have caused that disable condition
will have
their bits set to 1 in this word.
Bit #
Description
0 (LSB) Remote
disable (REMOTE = 0)
1
Software disable (SWEN
= 0)
2
DIP switch disable
(DIPEN = 0)
3
Fault disable
4 Velocity
loop design failure
5
Encoder not initialized
6-15 not used
STATUS Word 2: Fault Status Word
If a fault exists (Bit 1 of the STAT word = 1), the fault(s) which
exist(s) will
have the corresponding bits set to 1 in this word.
Bit #
Description
0 (LSB) Drive over
temperature
1
Over voltage condition
2
Over current condition
3
Feedback loss
4
Under voltage condition
5
Motor over temperature
6
Analog supply fault
7
Over speed condition
8
EEPROM fault
9
EEPROM checksum fault
10
No comp (compensation)
for the motor
11
Foldback condition
12
not used
13
Overtravel
fault
14
Position deviation fault
15
Interface fault
STATUS Word 3: Safety Status Word
If safety of the drive is compromised (Bit 2 of the STAT word = 1), the
condition which is causing that state has its corresponding bit set to
1 in
this word.
Bit #
Description
0 (LSB) CWLIM = 1 (motor
has reached
CW travel limit)
1
CCWLIM = 1 (motor has
reached CCW travel limit)
2
LIMDIS = 1 (limit switch
function disabled by user)
3
THERMODE > 0 (set to
non-zero by the user)
4
FOLD = 1 (drive current
foldback mode)
5*
LIMDIS=0 & CW switch
not routed (INxMODE 1)
6*
LIMDIS=0 & CCW switch
not routed (INxMODE 2)
7*** Positive
Overtravel
(PFB > PMAX) with PLIM > 0
8*** Negative
Overtravel
(PFB < PMIN) with PLIM > 0
9**** MFOLD
= 1 (motor current
foldback mode)
10-15 not used
STATUS Word 4: Special Mode Status Word
If the drive is in a special operating mode (Bit 3 of the STAT word =
1), the
special mode that the drive is in has its corresponding bit set to 1 in
this
word.
Bit #
Description
0 (LSB) Drive is
in Step mode (see
STEP)
1
Drive is in Burnin mode (factory
function)
2
Drive is in Zeroing mode
(see ZERO)
3-15 not used
STATUS Word 5: Hold Mode Status Word
If the drive is in Hold mode (Bit 4 of the STAT word = 1), the
condition which
caused the drive to enter Hold mode has its corresponding bit set to 1
in this
word.
Bit #
Description
0 (LSB) User
request (user set HOLD
= 1)
1
DIP switch setting (DIP
switch 7 = 1)
2
Drive is in Active
disable state
3
Limit switch(es) tripped: 1.
Command is in direction of tripped
switch (not in current mode) with drive enabled; or 2. Both limit
switches are activated.
4**
User input switch hold (INxMODE=19)
5**
Internal hold request
during homing process.
6-10
SERCOS hold related bits
11
Analog position hold
12-15 not used
Firmware Versions: all, with exceptions:
*-versions 2.1.0 and later
**-versions 3.0.0 and later
*** - versions 3.1.0 and later
**** - versions 3.2.0 and later
Type: variable (R) Range: see above
Units: n/a Default: n/a
Opmodes: all Drive Status: en/dis EEPROM: no