CIP Axis Status Attributes

Enumeration:

0 = Initializing

1 = Pre-Charge

2 = Stopped

3 = Starting

4 = Running

5 = Testing

6 = Stopping

7 = Aborting

8 = Major Faulted

9 = Start Inhibited

10 = Shutdown

11-255: Reserved

See Semantics

See Semantics

Bitmap:

0-31: Vendor Specific

(Published in Product Manual)

This bit is set if the axis is taking command reference and services from the local interface instead of the remote (CIP Motion) interface. This bit is based on the current state of the Remote Mode bit of the Node Status attribute.

This bit is set if the axis has detected one or more exception conditions configured to generate an alarm. This bit is clear if there are no current axis alarm conditions.

For a drive axis, this bit is set if the DC Bus has charged up to an operational voltage level based on direct measurement and, if applicable, the Converter Bus Up Status bit associated with the external CIP Motion converter) supplying DC Bus power to this device is also set. If the Bus Configuration attribute is set to

Shared DC - Non CIP Converte

r the drive might also check the status of its associated external Non-CIP Motion converter. When a drive axis is in the Pre-Charge state, the transition of the DC Bus Up status bit from 0 to 1 initiates a state transition to the Stopped State. Once set, the DC Bus Up bit is cleared when the DC Bus voltage has dropped below an operational voltage level, or the Converter Bus Up Status bit associated with external CIP Motion converters supplying DC Bus power to this device is cleared.

For an AC/DC converter axis, this bit is set if the DC Bus has charged up to an operational voltage level based on direct measurement alone. When a converter axis is in the Pre-Charge state, the transition of the DC Bus Up status bit from 0 to 1 initiates a state transition to the Running state for a Passive converter, or to the Stopped state for an Active converter. Once set, the DC Bus Up bit is cleared when the DC Bus voltage has dropped below an operational voltage level, independent of the state of the Converter Bus Up Status bit.

For a DC/DC converter axis, this bit is set when the primary DC Bus has charged up to an operational voltage level based on direct measurement, the Converter Bus Up Status bit associated with external CIP Motion converters supplying DC Bus power to this device has been set, and the DC/DC converter has established all the secondary DC Bus voltage levels. While the DC/DC converter axis is in the Pre-Charge state, the transition of the DC Bus Up status bit from 0 to 1 initiates a state transition to the Running state.

This bit is set if the axis power structure is energized and capable of generating motor flux and torque for a drive axis, or regenerating power to the AC line for a converter axis. The value of the Power Structure Enabled bit is determined by the Axis State, and for the drive axis, the configured Stopping Action attribute value.

This bit is set if the motor flux for an induction motor has reached an operational level. Transition of the Motor Flux Up bit is initiated in the Starting State according to the configured Flux Up Control attribute value. This bit is only applicable to Induction Motor types.

This bit is set if the axis control structure is actively tracking the command reference from the motion planner associated with a drive axis, or the bus voltage setpoint of a converter axis, or the current references of a track section axis applying force to resident movers. The Tracking Command bit is directly associated with the Running state of the Axis State Model.

This bit is set if the actual position is within the Position Lock Tolerance of the command position.

This bit is set if the velocity feedback signal is within the Velocity Lock Tolerance of the unlimited velocity reference.

This bit is set if the velocity feedback signal is within the Velocity Standstill Window of 0. For a Frequency Control drive, this bit is set if the velocity reference signal is within the Velocity Standstill Window of 0.

This bit is set if the absolute velocity feedback signal is below Velocity Threshold. For a Frequency Control drive, this bit is set if the absolute velocity reference signal is below the Velocity Threshold.

This bit is set if the velocity reference signal is limited by the Velocity Limiter.

This bit is set if the acceleration reference signal is limited by the Acceleration Limiter.

This bit is set if the acceleration reference signal is limited by the Deceleration Limiter.

This bit is set if the absolute filtered torque reference is above the Torque Threshold.

This bit is set if the filtered torque reference is limited by the Torque Limiter.

This bit is set if the command current, Iq, is limited by the Current Vector Limiter.

This bit is set if the Current Vector Limit condition of the axis is limited by any of the axis's Thermal Models or I

2

T Thermal Protection functions.

This bit, when set, indicates that the feedback device is accurately reflecting changes to axis position, and there have been no conditions detected that would compromise the quality of the feedback position value. The bit is set at power-up assuming that the feedback device passes any power-up self-test required. If during operation a feedback exception occurs that could impact the fidelity of axis position, the bit is immediately cleared. The bit remains clear until either a fault reset is executed by the drive or the drive is power cycled. The Feedback Integrity bit behavior applies to both absolute and incremental feedback device operation.

This bit is set when the axis is in the shutdown state or in the faulted state but would transition to the shutdown state if the faults were cleared. Therefore, the Shutdown bit is closely associated with the Shutdown State of the Axis State Model.

This bit is set for the duration of an active process. An example of an active process would be an operation initiated by a Run Motor Test, Run Hookup Test, or Run Inertia Test to request service. An active process that requires the enabling of the axis power structure results in a transition to the Testing State of the Axis State Model.

This bit is set by a CIP Motion converter, or a CIP Motion drive containing an integral converter, or a CIP Motion drive connected to an external non-CIP converter, to indicate that the converter cannot continue supplying DC Bus power to other drives and converters on a shared DC Bus. This is usually the result of a shutdown fault action initiated by the drive or converter, or a shutdown request from the controller. When the DC Bus Unload bit is set, the Shutdown bit (bit 18) in this case is also set. A start inhibit condition can also set the DC Bus Unload bit.

When there is no AC Contactor Enable output to drop the DC Bus, a method is needed to unload the converter from all other drives and converters sharing the DC Bus. By monitoring the DC Bus Unload status bit, the control system uses the Converter Bus Unload bit of Control Status to initiate Bus Power Sharing exceptions on all enabled drives on the shared DC Bus that are configured for Shared AC/DC or Shared DC operation. This Bus Power Sharing exception invokes the configured Exception Action that, by default, disables the device’s power structure and unloads the bus. Upon receiving a Converter Bus Unload, all disabled drives sharing the DC Bus shall indicate a Converter Bus Unload start inhibit.

Unlike other devices, DC/DC converters configured for Shared DC/DC operation on the shared primary DC Bus do not assert a Bus Power Sharing exception when receiving a Converter Bus Unload. Instead, DC/DC converters cascade the Converter Bus Unload, sent by the control system to devices on the primary bus, to devices on the secondary DC Bus by setting its DC Bus Unload status bit. The DC/DC converter remains operational in the Running state to allow Shared DC devices on the secondary DC bus to execute the configured Bus Power Sharing exception action. However, if the DC/DC converter itself experiences a fault condition or a shutdown request, it sets the Bus Unload bit, but all other devices in the Primary Shared DC Bus remain operational.

Only the originating drive or converter with the DC Bus Unload condition can cause Bus Power Sharing Faults on other drives and AC/DC converters on the associated shared bus. In other words, no device with a Bus Power Sharing Fault can cause a Bus Power Sharing exception on other devices on the shared bus by setting its DC Bus Unload bit. This qualification helps prevent DC Bus recovery deadlock. To recover full DC Bus operation, the originating drive or converter with the DC Bus Unload condition must first be reset via a Shutdown Reset Request. Once clear, the controller then clears the Converter Bus Unload bit to all the shared drives and converters. The Bus Power Sharing Faults on the shared drives and AC/DC converters can then be cleared successfully by either a Fault Reset Request, or a Shutdown Reset Request, allowing these devices to become operational.

This bit is set when a CIP Motion converter, or a CIP Motion drive containing an integral converter, or a CIP Motion drive connected to an external non-CIP converter, has detected a loss of AC input power. This bit is cleared when AC input power is determined to be sufficient for converter operation.

When an AC Power Loss condition is detected by a converter supplying power to other devices over a shared DC Bus, a method is needed to generate a Converter AC Power Loss exception on any drive whose power structure is enabled. To accomplish this, the control system monitors the AC Power Loss status bits of converters supplying DC Bus power and propagates AC Power Loss status to all drives on the shared DC Bus, such as drives that are configured for Shared AC/DC or Shared DC operation. Upon notification of AC Power Loss, drives that have enabled power structures will assert a Converter AC Power Loss exception and invoke the programmed Axis Exception Action. Disabled drives will not generate an exception action on AC Power Loss. Thus, no drive faults will occur on removal of AC Power from a converter.

Unlike other devices, DC/DC converters configured for Shared DC/DC operation on the shared primary DC bus do not assert an AC Power Loss exception when receiving a Converter AC Power Loss. Instead, DC/DC converters cascade the Converter AC Power Loss, sent by the control system to devices on the primary bus, to devices on the secondary DC Bus by setting its AC Power Loss status bit and, thereby, initiating AC Power Loss exceptions on all enabled Shared DC devices assigned to the secondary Shared DC Bus. The DC/DC converter remains operational in the Running state to allow Shared DC devices on the secondary DC bus to execute the configured AC Power Loss exception action.

Only the originating drive or converter with the AC Power Loss condition can cause AC Power Loss Faults on other drives on the associated shared bus. In other words, no device with an AC Power Loss Fault can cause an AC Power Loss exception on other drives on the shared bus by setting its AC Power Loss bit. This qualification prevents DC Bus recovery deadlock. To recover full DC Bus operation, the originating drive or converter with the AC Power Loss condition must first be reset, typically via a Shutdown Reset Request. Once clear, the controller then clears the Converter AC Power Loss bit to all the shared drives. The AC Power Loss Faults on the shared drives can then be successfully cleared by either a Fault Reset Request, or a Shutdown Reset Request, allowing these drives to become operational.

When set, this bit indicates that axis position is being actively controlled by the Position Loop. Position Control Mode is only applicable when the axis is enabled and using the PI Vector Control Method. The "Position Control Mode" status bit is cleared whenever the active Control Mode is changed from Position Control to Velocity Control or Torque Control. This status bit is clear if the drive axis is disabled.

When set, this bit indicates that axis velocity is being actively controlled by the Velocity Loop. Velocity Control Mode is only applicable when the drive axis is enabled and using the PI Vector Control Method. The "Velocity Control Mode" status bit is cleared whenever the active Control Mode is changed from Velocity Control to Position Control or Torque Control. This status bit is clear if the drive axis is disabled.

When set, this bit indicates that axis velocity is being actively controlled by the Torque (Current) Loop. Torque Control Mode is only applicable when the drive axis is enabled and using the PI Vector Control Method. The "Torque Control Mode" status bit is cleared whenever the active Control Mode is changed from Torque Control to Position Control or Velocity Control. This status bit is clear if the drive axis is disabled.

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LocalControlStatus

AlarmStatus

DCBusUpStatus

PowerStructureEnabledStatus

MotorFluxUpStatus

TrackingCommandStatus

PositionLockStatus

VelocityLockStatus

VelocityStandstillStatus

VelocityThresholdStatus

VelocityLimitStatus

AccelerationLimitStatus

DecelerationLimitStatus

TorqueThresholdStatus

TorqueLimitStatus

CurrentLimitStatus

ThermalLimitStatus

FeedbackIntegrityStatus

ShutdownStatus

InProcessStatus

DCBusUnloadStatus

ACPowerLossStatus

PositionControlMode

VelocityControlMode

TorqueControlMode

Controller Loop Back: v35

Controller Loop Back: v35

Controller Loop Back: v35

Controller Loop Back: v35

Controller Loop Back: v35

Controller Loop Back: v35

*Controller Loop Back: v35

Controller Loop Back: v35

Controller Loop Back: v35

Controller Loop Back: v35

Controller Loop Back: v35

Controller Loop Back: v35

Controller Loop Back: v35

Enumeration:

0 = Monitoring

1 = Regenerating

2 = Ride Thru

3 = AC Line Sync

4 = Bus Voltage Lock

5 = Reactive Power Only Mode

6 = Voltage Control Mode

7 = Power Loss

8 = AC Line Voltage Sag

9 = AC Line Phase Loss

10 = AC Line Frequency Change

11 = AC Line Sync Loss

12 = Single Phase

13 = Bus Voltage Limit

14 = Bus Voltage Rate Limit

15 = Active Current Rate Limit

16 = Reactive Current Rate Limit

17 = Reactive Power Limit

18 = Reactive Power Rate Limit

19 = Active Current Limit

20 = Reactive Current Limit

21 = Motoring Power Limit

22 = Regenerative Power Limit

23 = Converter Thermal Limit

24-31 = Reserved

This bit is set when the regenerative converter is consuming power from the AC Line.

This bit is set when the regenerative converter is regenerating power to the AC Line.

This bit is set when the device has initiated a Ride Thru action, temporarily suspending PWM modulation, as a result of detecting a problem with the power source.

This bit is set when regenerative converter is phase locked to the AC Line voltage.

This bit is set if the measured DC Bus Voltage is within a vendor-specific tolerance (that is 1%) of the Bus Voltage Reference.

This bit is set when the regenerative converter is operating in Reactive Power Only Mode, supplying reactive power to the grid for Power Factor correction.

When set, this bit indicates that the DC bus voltage is being actively controlled by the Bus Voltage Loop of the regenerative converter. The Voltage Control Mode status bit is cleared whenever the active Converter Control Mode is changed from Bus Voltage Control to AC Line Current Control. This status bit is clear if the converter is disabled.

This bit is set when a Power Loss condition has been detected. For a drive, this may have initiated a Ride Thru action, where the PWM output to the motor is temporarily suspended, or has initiated a Decel Regen action, where the drive attempts to hold up the DC Bus voltage by decelerating the motor. For a regenerative converter, this may have initiated a Ride Thru action where PWM Modulation is suspended to the AC Line.

This bit is set when a regenerative converter detects a sag in AC line voltage. If configured to do so, this may have initiated a Ride Thru action, where PWM modulation to the AC line is temporarily suspended.

This bit is set when a regenerative converter detects an AC line phase loss. If configured to do so, this may have initiated a Ride Thru action, where PWM modulation to the AC line is temporarily suspended.

This bit is set when a regenerative converter detects a high rate of change of the AC line frequency. If configured to do so, this may have initiated a Ride Thru action, where PWM modulation to the AC line is temporarily suspended.

This bit is set when a regenerative converter detects it has lost synchronization to the AC line. If configured to do so, this may have initiated a Ride Thru action, where PWM modulation to the AC line is temporarily suspended.

This bit is set when the converter is operating on a single phase.

This bit is set if the bus voltage reference signal into the bus voltage control loop is limited by the Bus Voltage Limiter block.

This bit is set if the bus voltage Rate Limiter block is limiting the rate of change of the bus voltage set point signal into the bus voltage control loop.

This bit is set if the Rate Limiter block is limiting the rate of change of the Active Current Command signal.

This bit is set if the Rate Limiter block is limiting the rate of change of the Reactive Current Command signal.

This bit is set if the Power Limiter block is limiting the Reactive Power Set Point signal.

This bit is set if the Rate Limiter block is limiting the rate of change of the Reactive Power Set Point signal.

This bit is set if the active current reference signal is limited by the Current Limiter block.

This bit is set if the reactive current reference signal is limited by the Current Limiter block.

This bit is set if the current reference signals are limited by the Current Limiter block due to the Motoring Power Limit.

This bit is set if the current reference signals are limited by the Current Limiter block due to the Converter Regenerative Power Limit.

This bit is set if the current reference signals are limited by the Current Limiter block due to the Converter Thermal Current Limit.

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MotoringStatus

RegeneratingStatus

RideThruStatus

ACLineSyncStatus

BusVoltageLockStatus

ReactivePowerOnlyModeStatus

VoltageControlModeStatus

PowerLossStatus

ACLineVoltageSagStatus

ACLinePhaseLossStatus

ACLineFrequencyChangeStatus

ACLineSyncLossStatus

SinglePhaseStatus

BusVoltageLimit

BusVoltageRateLimit

ActiveCurrentRageLimit

ReactiveCurrentRateLimit

ReactivePowerLimit

ReactivePowerRateLimit

ActiveCurrentLimit

ReactiveCurrentLimit

MotoringPowerLimit

RegenerativePowerLimit

ConverterThermalLimit

Controller Loop Back: v35

Controller Loop Back: v35

Controller Loop Back: v35

Controller Loop Back: v35

Bitmap:

0-31: Vendor Specific

(Published in Product Manual)

Enumeration

0 = Torque Notch Filter Frequency Detected

1 = Torque Notch Filter Tuning Unsuccessful

2 = Torque Notch Filter Multiple Frequencies

3 = Torque Notch Filter Frequency Below Limit

4 = Torque Notch Filter Frequency Above Limit

5 = Adaptive Tune Gain Stabilization Active

6 - 31 = Reserved

This bit is set when the Adaptive Tuning function has detected a resonance frequency between the Torque Notch Filter Low Frequency Limit and the Torque Notch Filter High Frequency Limit with magnitude above the Toque Notch Filter Tuning Threshold.

Otherwise, the bit is clear.

This bit is cleared by the Adaptive Tuning function when the Axis state transitions to the Running state.

This bit is set when, the Adaptive Tuning function, identifies multiple resonant frequencies that are between the Torque Notch Filter Low Frequency Limit and the Torque Notch Filter High Frequency Limit whose magnitudes are above the Toque Notch Filter Tuning Threshold. Otherwise, the bit is clear.

This bit is cleared by the Adaptive Tuning function when the Axis state transitions to the Running state.

This bit is set when the Adaptive Tuning function identifies a frequency that is below the Torque Notch Filter Low Frequency Limit but whose magnitude is higher than the configured Toque Notch Filter Tuning Threshold. Otherwise, the bit is clear.

This bit is cleared by the Adaptive Tuning function when the Axis state transitions to the Running state.

This bit is set when the Adaptive Tuning function identifies a frequency that is above the Torque Notch Filter High Frequency Limit but whose magnitude is higher than the configured Toque Notch Filter Tuning Threshold. Otherwise, the bit is clear.

This bit is cleared by the Adaptive Tuning function when the Axis state transitions from disabled to enabled operation.

This bit is set when the Adaptive Tuning Gain Scaling Factor is not equal to one. This indicates that the Adaptive Tuning function is actively adjusting servo loop gain values and the Torque Low Pass Filter Bandwidth value to improve system stability.

This bit is cleared by the Adaptive Tuning function when the Axis state transitions to the Running state.

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TorqueNotchFilterFreqDetectedStatus

TorqueNotchFilterTuneUnsuccessfulStatus

TorqueNotchFilterMultipleFreqStatus

TorqueNotchFilterFreqBelowLimitStatus

TorqueNotchFilterFreqAboveLimitStatus

AdaptiveTuneGainStabilizationStatus

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-

-

See Semantics

Bitmap:

0-31: Vendor Specific

(Published in Product Manual)

This bit represents the logical state of the Enable Input.

This bit represents the logical state of the Home Input.

This bit represents the logical state of the Registration 1 Input.

This bit represents the logical state of the Registration 2 Input.

This bit represents the logical state of the Positive Overtravel OK Input.

This bit represents the logical state of the Negative Overtravel OK Input.

This bit represents the logical state of the Thermostat OK input associated with the motor mounted Feedback 1device.

This bit represents the logical state of the Resistive Brake Release Output.

This bit represents the logical state of the Mechanical Brake Release Output.

This bit represents the logical state of the Motor Thermostat OK Input.

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EnableInputStatus

HomeInputStatus

Registration1InputStatus

Registration2InputStatus

PositiveOvertravelInputStatus

NegativeOvertravelInputStatus

Feedback1ThermostatInputStatus

ResistiveBrakeOutputStatus

MechanicalBrakeOutputStatus

MotorThermostatInputStatus

Enumeration:

0 = Regenerative Power OK Input

1 = Bus Capacitor Module OK Input

2 = Shunt Thermal Switch OK Input

3 = Contactor Enable Output

4 = Pre-Charge OK Input

5 = AC Line Contactor OK Input

6 = Regenerative Power OK Output

7 = Bus Conditioner Module OK Input

8 = Converter OK Input

9 = Converter OK Output

10 - 31 = Reserved

This bit represents the logical state of the Regenerative Power Input. This input status bit indicates that the associated external regenerative converter is in the Running state and capable of transferring regenerative power.

This bit represents the logical state of the Bus Capacitor Module Input.

This bit represents the logical state of the Shunt Thermal Switch Input.

This bit represents the logical state of the Contactor Enable Output.

This bit represents the logical state of the Pre-Charge Input.

This bit represents the logical state of the AC Line Contactor OK Input

This bit represents the logical state of the Regenerative Power Output. This output status bit indicates this regenerative converter is in the Running state and capable of transferring regenerative power.

This bit represents the logical state of the Bus Conditioner Module Input.

This bit represents the logical state of the Converter OK Input. This input status bit indicates that the associated external converter has determined that the DC bus has reached operational voltage level and that the converter is not faulted.

This bit represents the logical state of the Converter OK Output. This output bit indicates that this converter has determined that the DC bus has reached operational voltage level and is not currently faulted.

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RegenerativePowerInputStatus

BusCapacitorModuleInputStatus

ShuntThermalSwitchInputStatus

ContactorEnableOutputStatus

PreChargeInputStatus

ACLineContactorInputStatus

RegenerativePowerOutputStatus

BusConditioneerModuleInputStatus

ConverterInputStatus

ConverterOutputStatus