AXIS_SERVO_DRIVE Structure

A servo-drive axis object represents an axis with full motion planner functionality and integrated configuration support.

A servo-drive axis is associated with digital drive interface modules sending digital commands to an external drive, such as a 1756-MxxSE (SERCOS). The AXIS_SERVO_DRIVE structure contains the following status and configuration attributes.

Mnemonic	Data Type	Description
MotionStatus	DINT	The motion status bits for your axis.
		Bit #	Bit Name (tag)	Description
	BOOL	00	AccelStatus	Acceleration Status
	BOOL	01	DecelStatus	Deceleration Status
	BOOL	02	MoveStatus	Move Status
	BOOL	03	JogStatus	Jog Status
	BOOL	04	GearingStatus	Gearing Status
	BOOL	05	HomingStatus	Homing Status
	BOOL	06	StoppingStatus	Stopping Status
	BOOL	07	AxisHomedStatus	Homed Status
	BOOL	08	PositionCamStatus	Position Cam Status
	BOOL	09	TimeCamStatus	Time Cam Status
	BOOL	10	PositionCamPendingStatus	Position Cam Pending Status
	BOOL	11	TimeCamPendingStatus	Time Cam Pending Status
	BOOL	12	GearingLockStatus	Gearing Lock Status
	BOOL	13	PositionCamLockStatus	Position Cam Lock Status
	BOOL	14	TimeCamLockStatus	Time Cam Lock Status
	BOOL	15	CoordinateMotionStatus	Coordinate Move Status
	BOOL	16	TransformStateStatus	Transform State Status
	BOOL	17	ControlledByTransformStatus	Controlled by Transform Status
	BOOL	18	ControlledByTransformStatus	Controlled By Transform Status
	BOOL	19	DirectVelocityControlStatus	Direct Velocity Control Status
	BOOL	20	DirectTorqueControlStatus	Direct Torque Control Status
	BOOL	21-31	Reserved
AxisStatus	DINT	The status bits for your axis:
	BOOL	Bit #	Bit Name (tag)	Description
	BOOL	00	ServoActionStatus	Servo Action Status
	BOOL	01	DriveEnableStatus	Drive Enable Status
	BOOL	02	ShutdownStatus	Axis Shutdown Status
	BOOL	03	ConfigUpdateInProcess	Configuration Update in Process
	BOOL	04	InhibitStatus	Inhibit Status
AxisFault	DINT	The axis faults for your axis:
		Bit #	Bit Name (tag)	Description
	BOOL	00	PhysicalAxisFault	Physical Axis Fault
	BOOL	01	ModuleFault	Module Fault
	BOOL	02	ConfigFault	Configuration Fault
AxisEvent	DINT	The event status for your axis:
		Bit #	Bit Name (tag)	Description
	BOOL	00	WatchEventArmedStatus	Watch Event Armed Status
	BOOL	01	WatchEventStatus	Watch Event Status
	BOOL	02	RegEvent1ArmedStatus	Registration Event 1 Armed Status
	BOOL	03	RegEvent1Status	Registration Event 1 Status
	BOOL	04	RegEvent2ArmedStatus	Registration Event 2 Armed Status
	BOOL	05	RegEvent2Status	Registration Event 2 Status
	BOOL	06	HomeEventArmedStatus	Home Event Armed Status
	BOOL	07	HomeEventStatus	Home Event Status
ActualPosition	REAL	Actual Position in Position Units
StrobeActualPosition	REAL	Strobe Actual Position in Position Units
StartActualPosition	REAL	Start Actual Position in Position Units
AverageVelocity	REAL	Average Velocity in Position Units / Sec
ActualVelocity	REAL	Actual Velocity in Position Units / Sec
ActualAcceleration	REAL	Actual Acceleration in Position Units / Sec²
WatchPosition	REAL	Watch Position in Position Units
Registration1Position	REAL	Registration 1 Position in Position Units
Registration2Position	REAL	Registration 2 Position in Position Units
Registration1Time	DINT	Registration 1 Time as CST time in microseconds
Registration2Time	DINT	Registration 2 Time as CST time in microseconds
InterpolationTime	DINT	Interpolation Time as CST time in microseconds
InterpolatedActualPosition	REAL	Interpolated Actual Position in Position Units
MasterOffset	REAL	Master Offset in Master Position Units
StrobeMasterOffset	REAL	Strobe Master Offset in Master Position Units
StartMasterOffset	REAL	Start Master Offset in Master Position Units
CommandPosition	REAL	Command Position in Position Units
StrobeCommandPosition	REAL	Strobe Command Position in Position Units
StartCommandPosition	REAL	Start Command Position in Position Units
CommandVelocity	REAL	Command Velocity in Position Units / Sec
CommandAcceleration	REAL	Command Acceleration in Position Units / Sec²
InterpolatedCommandPosition	REAL	Interpolated Command Position in Position Units
ServoModuleFault	DINT	a collection of all faults that have module scope as opposed to axis scope. These module faults are reflected by all axes supported by the associated SERCOS module.
		Bit #	Bit Name (tag)	Description
	BOOL	00	ControlSyncFault	Control Sync Fault
	BOOL	01	ModuleSyncFault	Module Sync Fault
	BOOL	02	TimerEventFault	Timer Event Fault
	BOOL	03	ModuleHardwareFault	Module Hardware Fault
AttributeErrorCode	INT	CIP Error code returned by erred set attribute list service to the module. (See CIP Error Code list)
AttributeErrorID	INT	Attribute ID associated with non-zero Attribute Error Code. (See CIP Error Code list)
PositionCommand	REAL	Position Command in Position Units
PositionFeedback	REAL	Position Feedback in Position Units
AuxPositionFeedback	REAL	Auxiliary Position Feedback in Position Units
PositionError	REAL	Position Error in Position Units
PositionIntegratorError	REAL	Position Integrator Error in Position Units - mSec
VelocityCommand	REAL	Velocity Command in Position Units / Sec
VelocityFeedback	REAL	Velocity Feedback in Position Units / Sec
VelocityError	REAL	Velocity Error in Position Units / Sec
VelocityIntegratorError	REAL	Velocity Integrator Error in Position Units – mSec / Sec
AccelerationCommand	REAL	Acceleration Command in Position Units / Sec²
AccelerationFeedback	REAL	Acceleration Feedback in Position Units / Sec²
ServoOutputLevel	REAL	Servo Output Level in Volts (not enabled in this release)
MarkerDistance	REAL	Marker Distance in Position Units
VelocityOffset	REAL	Velocity Offset in Position Units / Sec (not enabled in this release)
TorqueOffset	REAL	Torque Offset from –100% to +100% (not enabled in this release)
TorqueCommand	REAL	The command when operating in Torque Mode in terms of % rated.
TorqueFeedback	REAL	The torque feedback when operating in Torque Mode in terms of % rated.
PosDynamicTorqueLimit	REAL	The currently operative maximum positive torque/current limit magnitude. It should be the lowest value of all torque/current limits in the drive at a given time, including: amplifier peak limit, motor peak limit, user current limit, amplifier thermal limit, and motor thermal limit.
NegDynamicTorqueLimit	REAL	The currently operative negative positive torque/current limit magnitude. It should be the lowest value of all torque/current limits in the drive at a given time, including: amplifier peak limit, motor peak limit, user current limit, amplifier thermal limit, and motor thermal limit.
MotorCapacity	REAL	The present utilization of motor capacity as a percent of rated capacity.
DriveCapacity	REAL	The present utilization of drive capacity as a percent of rated capacity.
PowerCapacity	REAL	The present utilization of the axis power supply as a percent of rated capacity.
BusRegulatorCapacity	REAL	The present utilization of the axis bus regulator as a percent of rated capacity.
MotorElectricalAngle	REAL	The present electrical angle of the motor shaft.
TorqueLimitSource	DINT	The present source (if any) of any torque limiting for the axis.
DriveStatus	DINT	The status bits for your servo drive:
		Bit #	Bit Name (tag)	Description
	BOOL	00	- no tag -	Servo Action Status
	BOOL	01	- no tag -	Drive Enable Status
	BOOL	02	- no tag -	Axis Shutdown Status
	BOOL	03	ProcessStatus	Process Status
	BOOL	04	- no tag -	(Reserved)
	BOOL	05	- no tag -	(Reserved)
	BOOL	06	HomeSwitchStatus	Home Input Status
	BOOL	07	Reg1InputStatus	Registration 1 Input Status
	BOOL	08	Reg2InputStatus	Registration 2 Input Status
	BOOL	09	PosOvertravelInputStatus	Positive Overtravel Input Status
	BOOL	10	NegOvertravelInputStatus	Negative Overtravel Input Status
	BOOL	11	EnableInputStatus	Enable Input Status
	BOOL	12	AccelLimitStatus	Accel Limit Status
	BOOL	13-15	- no tag -	(Reserved)
	BOOL	16	VelocityLockStatus	Velocity Lock Status
	BOOL	17	VelocityStandstillStatus	Velocity Standstill Status
	BOOL	18	VelocityThresholdStatus	Velocity Threshold Status
	BOOL	19	TorqueThresholdStatus	Torque Threshold Status
	BOOL	20	TorqueLimitStatus	Torque Limit Status
	BOOL	21	VelocityLimitStatus	Velocity Limit Status
	BOOL	22	PositionLockStatus	Position Lock Status
	BOOL	23	- no tag -	(Reserved)
	BOOL	24	- no tag -	(Reserved)
	BOOL	25	- no tag -	(Reserved)
	BOOL	26	- no tag -	(Reserved)
DriveFault	DINT	The servo fault bits for your servo loop:
		Bit #	Bit Name (tag)	Description
	BOOL	00	PosSoftOvertravelFault	Positive Software Overtravel Fault
	BOOL	01	NegSoftOvertravelFault	Negative Software Overtravel Fault
	BOOL	02	PosHardOvertravelFault	Positive Hardware Overtravel Fault
	BOOL	03	NegHardOvertravelFault	Negative Hardware Overtravel Fault
	BOOL	04	MotFeedbackFault	Feedback Fault
	BOOL	05	MotFeedbackNoiseFault	Feedback Noise Fault
	BOOL	06	AuxFeedbackFault	Auxiliary Feedback Fault
	BOOL	07	AuxFeedbackNoiseFault	Auxiliary Feedback Noise Fault
	BOOL	08	- no tag -	(Reserved)
	BOOL	09	DriveEnableInputFault	Drive Enable Input Fault
	BOOL	10	CommonBusFault	Common Bus Fault
	BOOL	11	PreChargeOverloadFault	Pre-Charge Overload Fault
	BOOL	12	GuardFaultExists	Guard Fault Exists
	BOOL	13	GroundShortFault	Ground Short Fault
	BOOL	14	DriveHardFault	Drive Hard Fault
	BOOL	15	OverSpeedFault	Overspeed Fault
	BOOL	16	OverloadFault	Overload Fault
	BOOL	17	DriveOvertempFault	Drive Overtemp Fault
	BOOL	18	MotorOvertempFault	Motor Overtemp Fault
	BOOL	19	DriveCoolingFault	Drive Cooling Fault
	BOOL	20	DriveControlVoltageFault	Drive Control Voltage Fault
	BOOL	21	FeedbackFault	Feedback Fault
	BOOL	22	CommutationFault	Commutation Fault
	BOOL	23	DriveOvercurrentFault	Drive Overcurrent Fault
	BOOL	24	DriveOvervoltageFault	Drive Overvoltage Fault
	BOOL	25	DriveUndervoltageFault	Drive Undervoltage Fault
	BOOL	26	PowerPhaseLossFault	Power Phase Loss Fault
	BOOL	27	PosErrorFault	Position Error Fault
	BOOL	28	SERCOSFault	SERCOS Commutation Fault
	BOOL	29	- no tag -	Over Travel Fault
	BOOL	30-31	Reserved
SERCOSErrorCode	INT	Error code returned by SERCOS module indicating source of drive parameter update failure (See SERCOS Error Codes)
AccelStatus	BOOL	Set if the axis is currently being commanded to accelerate. If not set, axis is running at steady state velocity or is at rest.
DecelStatus	BOOL	Set if the axis is currently being commanded to decelerate. If not set, axis is running at steady state velocity or is at rest.
MoveStatus	BOOL	Set if a Move motion profile is currently in progress. Cleared when the Move is complete or is superseded by some other motion operation.
JogStatus	BOOL	Set if a Jog motion profile is currently in progress. Cleared when the Jog is complete or is superseded by some other motion operation.
GearingStatus	BOOL	Set if the axis is currently Gearing to another axis. Cleared when the gearing operation is stopped or is superseded by some other motion operation.
HomingStatus	BOOL	Set if a Home motion profile is currently in progress. Cleared when the homing operation is stopped or is superseded by some other motion operation.
StoppingStatus	BOOL	Set if there is a stopping process currently in progress. Cleared when the stopping process is complete. Tip : The stopping process is used to stop an axis (initiated by an MAS, MGS, Stop Motion fault action, or mode change). This bit is no longer associated with the gearing Clutch bit (MAG with Clutch selected) which, for I4B, has been explicitly named the Gearing Lock Status bit.
AxisHomedStatus	BOOL	Cleared at power-up or reconnection. Set by the MAH instruction upon successful completion of the configured homing sequence, and later cleared when the axis enters the shutdown state.
PositionCamStatus	BOOL	Set if a Position Cam motion profile is currently in progress. Cleared when the Position Cam is complete or is superseded by some other motion operation.
TimeCamStatus	BOOL	Set if a Time Cam motion profile is currently in progress. Cleared when the Time Cam is complete or is superseded by some other motion operation.
PositionCamPendingStatus	BOOL	Set if a Position Cam motion profile is currently pending the completion of a currently executing cam profile. This would be initiated by executing an MAPC instruction with Pending execution selected. This bit is cleared when the current position cam profile completes, initiating the start of the pending cam profile. This bit is also cleared if the position cam profile completes, or is superseded by some other motion operation.
TimeCamPendingStatus	BOOL	Set if a Time Cam motion profile is currently pending the completion of a currently executing cam profile. This would be initiated by executing an MATC instruction with Pending execution selected. This bit is cleared when the current time cam profile completes, initiating the start of the pending cam profile. This bit is also cleared if the time cam profile completes, or is superseded by some other motion operation.
GearingLockStatus	BOOL	Set whenever the slave axis is locked to the master axis in a gearing relationship according to the specified gear ratio. The clutch function of the gearing planner is used to ramp an axis up, or down, to speed in a gearing process (MAG with Clutch selected). This bit is cleared during the intervals where the axis is clutching.
PositionCamLockStatus	BOOL	Set whenever the master axis satisfies the starting condition of a currently active Position Cam motion profile. The starting condition is established by the Start Control and Start Position parameters of the MAPC instruction. This bit is bit is cleared when the current position cam profile completes, or is superseded by some other motion operation. In uni-directional master direction mode, the Position Cam Lock Status bit is cleared when moving in the "wrong" direction and sets when moving in the "correct" direction.
CoordinatedMotionStatus	BOOL	Set if any coordinated motion profile is currently active upon this axis. Cleared when the Coordinated Motion is complete or stopped.
TransformStateStatus	BOOL	Set if the axis is involved in a transform. The axis is in one of the coordinate systems specified in an active MCT instruction. True will indicate that the axis is involved in a transform; false will indicate that it is not.
ControlledByTransformStatus	BOOL	Set if the axis is under transform control. True indicates the axis is under transform control and false indicates it is not under transform control. An axis under transform control cannot be commanded to move.
TimeCamLockStatus	BOOL	Time Cam Lock Status (not enabled in this release)
MasterOffsetMoveStatus	BOOL	Set if a Master Offset Move motion profile is currently in progress. This bit is cleared when the Master Offset Move is complete or is superseded by some other motion operation.
ServoActionStatus	BOOL	Set when the associated axis is under servo control. Cleared when servo action is disabled.
DriveEnableStatus	BOOL	Set when the Drive Enable output of the associated physical axis is currently enabled. Cleared when physical servo axis Drive Enable output is currently disabled.
ShutdownStatus	BOOL	Set when the associated axis is currently in the Shutdown state. Cleared when the axis is transitioned from the Shutdown state to another state.
ConfigUpdateInProcess	BOOL	The Configuration Update Status Bits attribute provides a method for monitoring the progress of one or more specific module configuration attribute updates initiated by either a Set Attribute List service (which is internal to the firmware) or an SSV in the user program. When such an update is initiated, the ControlLogix processor sets this bit. This bit will remain set until the Set Attribute List reply comes back from the servo module indicating that the data update process was successful. Thus the Configuration Update Status Bits attribute provides a method of waiting until the servo configuration data update to the connected motion module is complete before starting a dependent operation.
InhibitStatus	BOOL	The InhibitStatus bit attribute is set when the axis is in the inhibited state. This bit can also be used to determine when an inhibit or uninhibit operation has been completed (for example, connections has been shutdown, reconnected, and then the reconfiguration process completed). During the inhibit or uninhibit process, this bit will remain in the previous state. Once it completes, it is updated to the new state.
PhysicalAxisFault	BOOL	Set when one or more fault conditions have been reported by the physical axis. The specific fault conditions can then be determined through access to the fault attributes of the associated physical axis.
ModuleFault	BOOL	Set when a serious fault has occurred with the motion module associated with the selected axis. Usually a module fault affects all axes associated with the motion module. A module fault generally results in the shutdown of all associated axes. Reconfiguration of the motion module is required to recover from a module fault condition.
ConfigFault	BOOL	Set when an update operation targeting an axis configuration attribute of an associated motion module has failed. Specific information concerning the Configuration Fault may be found in the Attribute Error Code and Attribute Error ID attributes associated with the motion module.
WatchEventArmedStatus	BOOL	Set when a watch event has been armed through execution of the MAW (Motion Arm Watch) instruction. Cleared when either a watch event occurs or a MDW (Motion Disarm Watch) instruction is executed.
WatchEventStatus	BOOL	Set when a watch event has occurred. Cleared when either another MAW (Motion Arm Watch) instruction or a MDW (Motion Disarm Watch) instruction is executed.
RegEvent1ArmedStatus	BOOL	Set when a registration checking has been armed for registration input 1 through execution of the MAR (Motion Arm Registration) instruction. Cleared when either a registration event occurs or a MDR (Motion Disarm Registration) instruction is executed for registration input 1.
RegEvent1Status	BOOL	Set when a registration event has occurred on registration input 1. Cleared when either another MAR (Motion Arm Registration) instruction or a MDR (Motion Disarm Registration) instruction is executed for registration input 1.
RegEvent2ArmedStatus	BOOL	Set when a registration checking has been armed for registration input 2 through execution of the MAR (Motion Arm Registration) instruction. Cleared when either a registration event occurs or a MDR (Motion Disarm Registration) instruction is executed for registration input 2.
RegEvent2Status	BOOL	Set when a registration event has occurred on registration input 2. Cleared when either another MAR (Motion Arm Registration) instruction or a MDR (Motion Disarm Registration) instruction is executed for registration input 2.
HomeEventArmedStatus	BOOL	Set when a home event has been armed through execution of the MAH (Motion Axis Home) instruction. Cleared when a home event occurs.
HomeEventStatus	BOOL	Set when a home event has occurred. Cleared when another MAH (Motion Axis Home) instruction is executed.
ControlSyncFault	BOOL	Set when the Logix controller detects that several position update messages in a row from the motion module have been missed due to a failure of the synchronous communications connection. This condition results in the automatic shutdown of the associated servo module. The Logix controller is designed to "ride-through" a maximum of four missed position updates without issuing a fault or adversely affecting motion in progress. Missing more than four position updates in a row constitutes a problematic condition that warrants shutdown of the servo module. This fault bit is cleared when the connection is reestablished.
ModuleSyncFault	BOOL	Set when the motion module detects that several position update messages in a row from the ControlLogix processor module have been missed due to a failure of the synchronous communications connection. This condition results in the automatic shutdown of the servo module. The servo module is designed to "ride-through" a maximum of four missed position updates without issuing a fault or adversely affecting motion in progress. Missing more than four position updates in a row constitutes a problematic condition that warrants shutdown of the servo module. This fault bit is cleared when the connection is reestablished.
TimerEventFault	BOOL	Set when the associated servo module has detected a problem with the module’s timer event functionality used to synchronize the motion module’s servo loop to the master timebase of the Logix rack (i.e. Coordinated System Time). This fault bit can be cleared only by reconfiguration of the motion module.
ModuleHardwareFault	BOOL	Set when the associated servo module has detected a hardware problem that, in general, is going to require replacement of the module to correct.
ProcessStatus	BOOL	Set when there is an axis tuning operation or an axis hookup diagnostic test operation in progress on the associated physical axis.
HomeInputStatus	BOOL	Set when the current state of the dedicated Home input is active. Cleared when the Home input is inactive.
Reg1InputStatus	BOOL	Set when the current state of the dedicated Registration 1 input is active. Clear when the Registration 1 input is inactive.
Reg2InputStatus	BOOL	Set when the current state of the dedicated Registration 2 input is active. Clear when the Registration 2 input is inactive.
PosOvertravelInputStatus	BOOL	Set when the current state of the dedicated Positive Overtravel input is active. Clear when the Positive Overtravel input is inactive.
NegOvertravelInputStatus	BOOL	Set when the current state of the dedicated Negative Overtravel input is active. Clear when the Negative Overtravel input is inactive.
EnableInputStatus	BOOL	Set when the current state of the dedicated Enable Input is active. Clear when the Enable Input is inactive.
AccelLimitStatus	BOOL	Set when the magnitude of the commanded acceleration to the velocity servo loop input is greater than the configured Velocity Limit.
VelocityLockStatus	BOOL	Set when the magnitude of the physical axis Velocity Feedback is within the configured Velocity Window of the current velocity command.
VelocityStandstillStatus	BOOL	Set when the magnitude of the physical axis Velocity Feedback is within the configured Velocity Standstill Window of zero speed.
VelocityThresholdStatus	BOOL	Set when the magnitude of the physical axis Velocity Feedback is less than the configured Velocity Threshold.
TorqueThresholdStatus	BOOL	Set when the magnitude of the physical axis Torque Feedback is less than the configured Torque Threshold.
TorqueLimitStatus	BOOL	Set when the magnitude of the axis torque command is greater than the configured Torque Limit.
VelocityLimitStatus	BOOL	Set when the magnitude of the commanded velocity to the velocity servo loop input is greater than the configured Velocity Limit.
PosLockStatus	BOOL	Set when the magnitude of the axis position error has become less than or equal to the configured Position Lock Tolerance value for the associated physical axis.
PosSoftOvertravelFault	BOOL	Set when the axis has traveled, or attempted to travel, beyond the current configured value for Maximum Positive Travel. Cleared when the axis is moved back within this travel limit.
NegSoftOvertravelFault	BOOL	Set when the axis has traveled, or attempted to travel, beyond the current configured value for Maximum Negative Travel. Cleared when the axis is moved back within this travel limit.
PosHardOvertravelFault	BOOL	Set when the axis has traveled beyond the current positive direction position limits as established by hardware limit switches mounted on the machine. To recover, the axis must be moved back with normal operation limits of the machine and the limit switch reset. This fault condition is latched and requires execution of an explicit MAFR (Motion Axis Fault Reset) or MASR (Motion Axis Shutdown Reset) instruction to clear.
NegHardOvertravelFault	BOOL	Set when the axis has traveled beyond the current negative direction position limits as established by hardware limit switches mounted on the machine. To recover, the axis must be moved back with normal operation limits of the machine and the limit switch reset. This fault condition is latched and requires execution of an explicit MAFR (Motion Axis Fault Reset) or MASR (Motion Axis Shutdown Reset) instruction to clear.
MotFeedbackFault	BOOL	Set for a specific feedback source when one of the following conditions occurs: The differential electrical signals for one or more of the feedback channels (e.g., A+ and A-, B+ and B-, or Z+ and Z-) are at the same level (both high or both low). Under normal operation, the differential signals are always at opposite levels. The most common cause of this situation is a broken wire between the feedback transducer and the servo module or drive; or Loss of feedback "power" or feedback "common" electrical connection between the servo module or drive and the feedback device. This fault condition is latched and requires execution of an explicit MAFR (Motion Axis Fault Reset) or MASR (Motion Axis Shutdown Reset) instruction to clear.
MotFeedbackNoiseFault	BOOL	Set for a specific feedback source when the servo module has detected simultaneous transitions of the feedback A and B channels (called "feedback noise"). Feedback noise is most often caused by loss of quadrature in the feedback device itself or radiated common-mode noise signals being picked up by the feedback device wiring, both of which may be able to be seen on an oscilloscope. This fault condition is latched and requires execution of an explicit MAFR (Motion Axis Fault Reset) or MASR (Motion Axis Shutdown Reset) instruction to clear.
AuxFeedbackFault	BOOL	Set for a specific feedback source when one of the following conditions occurs: The differential electrical signals for one or more of the feedback channels (e.g., A+ and A-, B+ and B-, or Z+ and Z-) are at the same level (both high or both low). Under normal operation, the differential signals are always at opposite levels. The most common cause of this situation is a broken wire between the feedback transducer and the servo module or drive; or Loss of feedback "power" or feedback "common" electrical connection between the servo module or drive and the feedback device. This fault condition is latched and requires execution of an explicit MAFR (Motion Axis Fault Reset) or MASR (Motion Axis Shutdown Reset) instruction to clear.
AuxFeedbackNoiseFault	BOOL	Set for an auxiliary feedback source when the servo module has detected simultaneous transitions of the feedback A and B channels (called "feedback noise"). Feedback noise is most often caused by loss of quadrature in the feedback device itself or radiated common-mode noise signals being picked up by the feedback device wiring, both of which may be able to be seen on an oscilloscope. This fault condition is latched and requires execution of an explicit MAFR (Motion Axis Fault Reset) or MASR (Motion Axis Shutdown Reset) instruction to clear.
GroundShortFault	BOOL	Set for an auziliary feedback source when one of the following conditions occurs: The differential electrical signals for one or more of the feedback channels (e.g., A+ and A-, B+ and B-, or Z+ and Z-) are at the same level (both high or both low). Under normal operation, the differential signals are always at opposite levels. The most common cause of this situation is a broken wire between the feedback transducer and the servo module or drive; or Loss of feedback "power" or feedback "common" electrical connection between the servo module or drive and the feedback device. This fault condition is latched and requires execution of an explicit MAFR (Motion Axis Fault Reset) or MASR (Motion Axis Shutdown Reset) instruction to clear.
DriveHardFault	BOOL	Set when the drive detects a serious hardware fault.
OverSpeedFault	BOOL	Set when the speed of the axis as determined from the feedback has exceeded the overspeed limit which is typically set to 150% of configured velocity limit for the motor.
OverloadFault	BOOL	Set when the load limit of the motor/drive has been exceeded and persists. (This attribute is often tied into the IT limit of the drive.)
DriveOvertempFault	BOOL	Set when the drive’s temperature exceeds the drive shutdown temperature.
MotorOvertempFault	BOOL	Set when the motor’s temperature exceeds the motor shutdown temperature.
DriveCoolingFault	BOOL	Set when the ambient temperature surrounding the drive’s control circuitry temperature exceeds the drive ambient shut-down temperature.
DriveControlVoltageFault	BOOL	Set when the power supply voltages associated with the drive circuitry fall outside of acceptable limits.
FeedbackFault	BOOL	Set when one of the feedback sources associated with the drive axis has a problem that prevents the drive from receiving accurate or reliable position information from the feedback device.
CommutationFault	BOOL	Set when the commutation feedback source associated with the drive axis has a problem that prevents the drive from receiving accurate or reliable motor shaft information to perform commutation.
DriveOvercurrentFault	BOOL	Set when drive output current exceeds the predefined operating limits for the drive.
DriveOvervoltageFault	BOOL	Set when drive DC bus voltage exceeds the predefined operating limits for the bus.
DriveUndervoltageFault	BOOL	Set when drive DC bus voltage is below the predefined operating limits for the bus.
PowerPhaseLossFault	BOOL	Set when the drive detects that one or more of the three power line phases is lost from the 3 phase power inputs.
PosErrorFault	BOOL	Set when the servo has detected that the axis position error has exceeded the current configured value for Position Error Tolerance. This fault condition is latched and requires execution of an explicit MAFR (Motion Axis Fault Reset) or MASR (Motion Axis Shutdown Reset) instruction to clear.
OutputCamStatus	DINT	A set of bits * that are set when the Output Cam has been initiated.
OutputCamPendingStatus	DINT	A set of bits * that are set when an Output Cam is waiting for an armed Output Cam to move beyond its cam start/cam end position.
OutputCamLockStatus	DINT	A set of bits * that are set when an Output Cam is locked to the master axis.
OutputCamTransitionStatus	DINT	A set of bits * that are set when the transition from the current armed Output Cam to the pending Output Cam is in process.

* The bit number corresponds with the execution target number. One bit per execution target.