Technical data

Technology DBs
CPU 317T: Technology Functions
A5E00251798-03
7-7
Variable Statusword.xxx
The Statusword variable indicates the current status of the velocity-controlled axis.
Bit
No.
Variable Meaning of the status TRUE
0 Statusword.DriveEnabled Drive pulse enabled (not the axis!). At virtual axes, this value
is always TRUE.
Pulse enabled is not active in following mode ("MC_Power"
with Mode = 3.)
1 Statusword.HomingDone Axis is homed, i.e. "MC_Home" was executed without error
2 Statusword.Done No motion command is being processed (MC_Power does
not represent a motion command in this case).
3 Statusword.SuperImposedCommand A superimposing motion is active (e.g.
"MC_MoveSuperImposed".
4 Statusword.Error
At least one error has occurred (ErrorID = 8xxx).
Warning do not change the Error = FALSE status.
5 Statusword.Errorstop The axis is being stopped / was stopped due to an error; the
technology object may be locked.
Eliminate the cause and acknowledge the error.
6 Statusword.Stopping An MC_Stop command is busy at the axis. New motion
commands are rejected.
7 Statusword.Standstill The axis velocity (absolute value) is lower than the set
standstill limit.
8 Statusword.PositioningCommand A positioning command is active at the axis (may also be
superimposing.)
9 Statusword.SpeedCommand A speed command is busy at the axis. Examples:
• MC_MoveVelocity
• "MC_MoveToEndPos" (before the fixed end stop is
detected)
10 Statusword.SynchrCommand Irrelevant to the positioning axis.
11 Statusword.Homing The bit is set at the start, and reset at the end of MC_Home.
12 Statusword.FollowUpControl Remains set as long as following mode is enabled.
This is not the case if the axis is shut down with "MC_Power"
or switched on with Mode = 3.
13 Statusword.ConstantVelocity Is set as long as the velocity setpoint remains constant.
14 Statusword.Accelerating Axis is accelerating (increasing drive power).
15 Statusword.Decelerating Axis is decelerating (declining drive power).
16 Statusword.RequestRestart Axis parameters were changed and do not take effect until
after the next restart (MC_Reset with Restart = TRUE).
17 Statusword.Simulation Axis in simulation mode.
You achieve this with MC_Power by setting Mode = 4.
18 Statusword.CyclicInterface Cyclic communication between the integrated technology
and the drive is active.
At a virtual axis. this value is always TRUE.
19 Statusword.EncoderValid The actual position of the encoder that is relevant to the axis
is valid (of particular importance in the startup phase of
absolute value encoders).
20 Statusword.SpeedMode The axis motion is velocity-controlled by "MC_MoveVelocity"
(PositionControl = FALSE).