will output drive status detail words to the serial port. Six words are transferred in ASCII-HEX format, with each word preceded by the letter ‘H’.
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.
STATUS2 Word 1: Feedback Loss Status Word
If the drive has experienced a feedback loss fault (Bit 3 of STATUS
Word 2 =
1), the condition which caused that fault will have its bit set to 1 in
this
word.
Bit #
Description
0 (LSB) Resolver
line break
1 Resolver/Digital
Converter Error bit
(following err)
2
Sine encoder board
initialization failed
3
Line break of encoder
A/B input
4
Line break of encoder
index input
5
Illegal halls state
6
Line break of encoder
C/D input (sine encoder)
7
A/B lines out of range
(sine encoder)
8
Burst overflow (sine
encoder)
9
external encoder (hand
wheel) line break
10 EnDat
communication error
11
Hiperface communication
error
12
Software resolver
sine/cosine signals out of range
13-15 not used
STATUS2 Word 2: Analog Supply Fault Status Word
If the drive has experienced an analog supply fault (Bit 6 of STATUS
Word 2 =
1), the condition which caused that fault will have its bit set to 1 in
this
word.
Bit #
Description
0 (LSB) Positive
analog supply
fault
1
Negative analog supply
fault
2-15 not used
STATUS2 Word 3: Position Deviation and Over Travel Fault
Status Word
If the drive has experienced position deviation or over travel fault
(Bit 14 of
STATUS Word 2 = 1), the condition which caused that fault will have its
bit set
to 1 in this word.
Bit #
Description
0 (LSB) Internal Numerical
Position
Deviation
1
Pos. Error (PE) exceeded
max PE limit (PEMAX)
2
Positive Overtravel (PFB > PMAX)
with PLIM=1
3
Negative Overtravel (PFB < PMIN)
with PLIM=1
4-15 not used
STATUS2 Word 4: Limit Switches Status Word
If the drive has experienced a limit switch fault (Bit 3 of STATUS Word
5 = 1),
the condition which caused that fault will have its bit set to 1 in
this word.
Bit #
Description
0 (LSB) CW Limit Switch
tripped
(CWLIM=1)
1
CCW Limit Switch tripped
(CCWLIM=1)
2-15 not used
STATUS2 Word 5: Encoder Initialization Failure Word
If the encoder initialization process was failed, the condition which
caused
that fault will have its bit set to 1 in this word.
Bit #
Description
0 (LSB) Too little (less than
one rev)
or too much (more than one rev) motion
1
Phase A current
doesn’t fit the commanded current
2
Phase A current and phase
C current doesn’t match
3
At least one of the limit
switches was tripped
4
Wake-No-Shake process
failed because of internal time-out
5
Wake-No-Shake too high
velocity or too much motion (more than quarter of a rev)
6
Wake-No-Shake internal
verification failed
7
Wake-No-Shake below
minimum required movement
8-15 not used
STATUS2 Word 6: Over Speed Fault Status Word
If the drive has experienced an over speed fault (Bit 7 of STATUS Word
2 = 1),
the condition which caused that fault will have its bit set to 1 in
this word.
Bit #
Description
0 (LSB) Velocity
above VOSPD
1
Velocity above 1.8*VLIM
2-15 not used
Firmware Versions: 2.1.0 and later
Type: variable (R) Range: see above
Units: n/a Default: n/a
Opmodes: all Drive Status: en/dis EEPROM: no