Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018 239
Bit Usage Status Condition Description
13 Optional/
C
Torque Threshold
This bit is set if the absolute filtered torque reference is above the
Torque Threshold.
14 Required/
C
Torque Limit
This bit is set if the filtered torque reference is currently being
limited by the Torque Limiter.
15 Optional/
D
Current Limit
This bit is set if the command current, Iq, is currently being
limited by the Current Vector Limiter.
16 Optional/
D
Thermal Limit
This bit is set if Current Vector Limit condition of the axis is being
limited by any of the axis's Thermal Models or I
2
T Thermal
Protection functions.
17 Required/
E
Feedback Integrity
This bit, when set, indicates that the feedback device is accurately
reflecting changes to axis position, and there have been no
conditions detected that would compromise the quality of the
feedback position value.
The bit is set at power-up assuming that the feedback device
passes any power-up self-test required.
If, during operation, a feedback exception occurs that could
impact the fidelity of axis position, the bit is immediately cleared.
The bit remains clear until either a fault reset is executed by the
drive or the drive is power cycled.
Fault Resets can be generated directly by the drive or initiated by
the controller using motion instructions. Note that the Feedback
Integrity bit behavior applies to both absolute and incremental
feedback device operation.
18 Required/
BD
Shutdown
This bit is set when the axis is in the shutdown state or in the
faulted state but would transition to the shutdown state if the
faults were cleared. Therefore, the Shutdown bit is closely
associated with the Shutdown State of the Axis State Model.
19 Required In Process
This bit is set for the duration of an active process. An example of
active process would be an operation initiated by a Run Motor
Test, Run Hookup Test, or Run Inertia Test to request service. An
active process that requires the enabling of the axis power
structure results in a transition to the Testing State of the Axis
State Model.
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