Rockwell Automation 2071-Axx Kinetix 3 Component Servo Drive Serial Host Command Reference Manual - Manual (Page 42)

42 Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Chapter 3 General Commands (ASCII)
Read Drive Status (STS)
Attribute Value
Command STS
Description Read status
Format STX ID # STS : BSS ETX
Response Format STX ID $ STS Mode S1 S2 S3 S4 S5 SS FChars : BSS ETX
Response Data Arguments Description
Mode One of these operating modes
F = Follower mode
S = Analog Velocity mode
P = Preset Velocity mode
C = Analog Current mode
D = Dual Current Command mode
PF, PS, PC FS, FC, SC = Mixed modes
Refer to [Pr - 0.00], Operations Mode on
page 48 for additional
information.
S1 S1 means:
In Follower mode:
1 = In Position
0 = Not In Position
In Analog Velocity or Preset Velocity modes:
1 = In Speed Window
0 = not In Speed Window
If position or speed data is not available S1= 0.
S2 One of the following:
1 = Up to Speed
0 = Not Up to Speed
If speed data is not available, S2=0.
S3 One of the following:
1 = Drive is Enabled
0 = Drive is Disabled
S4 One of the following:
1 = Positive Overtravel is active
0 = Positive Overtravel is inactive
S5 One of the following:
1 = Negative Overtravel is active
0 = Negative Overtravel is inactive
SS One of the following:
Edd = fault occurred (See
Appendix C )
dd = 2-byte error code, 0x00…0xFF
Wdd = warning occurred (See Appendix C )
dd = 2-byte warning code
RDY = no errors or warnings
FChars Abbreviation of the fault/warning name.
In the case of Estop fault, Fchars = ESTOP
FChars size is 5 bytes when fault occurs and 3 bytes when
warning occurs.