### STATUS2

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