Kollmorgen AKD-C01007-MCEC Benutzerhandbuch Seite 632

AKD Benutzerhandbuch | 24.13.49 DRV.MOTIONSTAT
Bit Significance
5 0x00000020 Slave in electronic gearing mode synchronized (high active)
6 0x00000040 Electronic gearing is active (high active)
7 0x00000080 Emergency stop procedure in progress (high active)
8 0x00000100 Emergency stop procedure has an error (high active)
9 0x00000200 Service motion active (high active)
10 0x00000400 A motion task could not be activated /invalid MT (high active)**
11 0x00000800
12 0x00001000
13 0x00002000
14 0x00004000
15 0x8000
16 0x10000
17 0x20000
* A possible error condition for homing to a reference switch could be that no reference switch was found
between two hardware limit switches.
** A possible error condition for an invalid motion task could be that a motion task tried to trigger auto-
matically following motion task that has never been initialized (called an "empty motion" task).
Motion task target position has been reached. See also (high
active).
Motion task target velocity has been reached. See also (high
active).
Motion task encountered an exception. A motion task exception
can happen during a static motion task activation, or during acti-
vation of motion task on the fly (when velocity is not zero). The
status bit will be reset automatically on successful activation of
any motion, or by a command DRV.CLRFAULT.
The target position of a motion task has been crossed. This sit-
uation occurs for motion tasks with a change on the fly when trig-
gering the DRV.STOP (S. 648) command just before the reaching
the target velocity of the current active motion task. The ramp-
down procedure with the motion task deceleration ramp causes the
target position to be crossed (high active).
Drive actual position is within the motion task target position win-
dow MT.TPOSWND.
AKD BASIC trajectory generator is executing a move.
AKD BASIC trajectory generator has completed a move.
Description
KOLLMORGEN | Mai 2014 632