BASIC commands
PROGRAMMING MANUAL 72
Revision 3.0
3.2.88 DRIVE_STATUS
/i
/i
/i
Type Axis parameter (read-only)
Syntax DRIVE_STATUS
Description For MECHATROLINK-II axes, this parameter is set from the STATUS field in
the MECHATROLINK-II communication frame and is updated every servo
period. Those bits can be seen in the Intelligent drives configuration window
in Trajexia Tools, and can be used in programs. The explanation of each bit is
given in the table below. (Note: Only bits relevant to MECHATROLINK-II axes
are listed.)
For detailed explanation for these status bits see the MECHATROLINK-II
manual.
For Flexible axis axes, this parameter holds the status of registration and
auxiliary inputs, as well as registration selection. The explanation of each bit
is given in the second table below. (Note: Only bits relevant to Flexible axis
are listed.)
Arguments N/A
Example PRINT DRIVE_STATUS AXIS(4)
This command will print the current value of DRIVE_STATUS for axis(4).
Example BASE(3)
ATYPE = 44
IF (DRIVE_STATUS AND 32)= 32 THEN
PRINT "REG 0 input is ON for axis(3)"
ENDIF
See also AXIS, MARK, MARKB, REGIST.
Bit Description (MECHATROLINK-II)
0Alarm
1 Warning
2 Ready
3 Servo on
4 Power on
5 Machine Lock
6 Home Position
7 At Position/Speed
8 Output Completed
9 Torque Limit
10 Latch Completed
11 In Range/Speed Limit
Bit Description (Flexible axis)
0MARK
1 MARKB
2 REG 0 selected current value
3 REG 1 selected current value
4 AUX IN current value
5 REG 0 current value
6 REG 1 current value
Bit Description (MECHATROLINK-II)
I52E-EN-03.book Seite 72 Freitag, 29. Juni 2007 11:55 11
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