Etel DSC2P - Status Drive

ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions
Operation & Software Manual
Direct Drives & Systems 203
13.11 Status Drive
The ’Status Drive’ are monitoring variables which enable the user to see if the controller is in error or warning
mode. Moreover, for an i
2
t error type, the integral value can be directly displayed via monitoring M67.
Monitorings M60 (SD1), M61 (SD2) and M63 enable the user to know if the initialization is over, if the motor is
moving, if the controller has detected an error... It is necessary to convert the value shown by monitorings M60,
M61 and M63 in binary. The three tables below show the meaning of each bit of monitorings M60, M61 and
M63. They are used for really advanced programming. Detailed explanations are not given in this manual.
13.11.1 M60 monitoring (SD1)
When a bit=1, its definition is validated (the status description is verified). If a bit=0, its definition is not validated.
Example: Bit 0 = 1 means 'controller switched on' and bit 0 = 0 means 'controller switched off'.
The EXI command clears the bit# 9 of the SD1. So, it disables the editor mode of the sequence and builds label
table.
Example:
M60.1 ;The ’Status Drive’ SD1 value is 2F; it means 101111 binary. It means that the power is on in
the motor, the phasing and homing have been completed and the position is kept 'in the window'
(bits 0, 1, 2, 3 and 5 are set to 1).
Available on DSC2P DSC2V DSCDP DSCDL DSCDM
M Alias Name Comment
M60 SD1 Status drive 1 Status drive (phasing, error, ...).
M61 SD2 Status drive 2 Status drive (process error label, ...).
M63 - TEB status TEB status
Available on DSC2P DSC2V DSCDP DSCDL DSCDM
Bit # Value Bit definition (description when bit=1)
01Controller in ’Power On’ mode
12Phasing completed (first PWR.<axis> = 1)
24First homing process completed
38Motor (axis) present. Bit normally always set to 1.
416Motor is executing a trajectory (moving)
532Motor in the position/time window (In-window defined by parameters K38 and K39)
664Controller in µ-master mode. This mode is set the controller is switched on when K170=1
7128Controller in waiting mode (commands WTM, WTP, WTW, WTB)
8256Controller executing an internal sequence (sequence in the controller)
9512Controller in edition of sequence mode (EDI command). The writing of S sequences is allowed.
10 1024 Controller in error mode
11 2048 Trace busy flag is set during a register trace acquisition
13 8192 Homing process in progress
23 8388608 Controller global warning