### STATUS

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