Evaluating status bit “Drive follows command values” (P-AXIS-00830)

P-AXIS-00830

Evaluating status bit “Drive follows command values”

Description

Many SERCOS drives supply the information “Drive follows command values” in a bit of their status word.

This parameter controls the inclusion of this bit to calculate the HLI status signal lr_state.ready_for_power_on_r.

The HLI signal lr_state.ready_for_power_on_r is only set if:

  • P-AXIS-00830 is set and
  • the bit “Drive follows command values” is set in the drive status word.

 

The bit is not evaluated in the following cases:

  • if feedhold release is not set, lr_mc_control.release_feedhold control unit
  • when drive-controlled homing is executed
  • when tracking mode is active on CANopen drives

Parameter

antr.evaluate_drive_follows_cmd

Data type

SGN08

Data range

0/1

Axis types

T, R, S

Dimension

T: ----

R,S: ----

Default value

-1

Drive types

CANopen, SERCOS

Remarks

Parameter available as of V3.1.3081.7

This parameter replaces the parameter P-AXIS-00411 for the SERCOS drive type..

It is only useful to use this parameter if the drive controller supplies the corresponding status bit. This information has to be taken from the drive documentation.