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Name Description Troubleshooting
Initialized True when drive has completed initialization procedure (such as phasing) If never goes on, check parameters, drive input voltage, safe torque off and enable inputs and possible faults.
Error recovering True when drive performs position return to the setpoint position after clear faults command is given
Tracking error warn Indicates that tracking error has increased beyond certain point. On most drives this controls a digital output pin that may be used in conjunction with controller to mitigate a tracking error problem before a tracking error fault is triggered. Operation depends on operating mode:
  • Position mode: true when position tracking error is greater than 1/8 of Position tracking error thresholdFPT
  • Velocity mode: true when velocity tracking error is greater than 1/8 of Velocity tracking error thresholdFVT
  • Torque mode: true when actual torque differs from torque setpoint more than 1/4 of Peak current limitMMC. This is not present in GraniteCore G2.0 devices (ARGON), and on that drive it will always read false.
Target reached True when drive's internal motion profiler (velocity & acceleration limited motion) has reached the user setpoint value and other conditions are met.

Full list of conditions of this status being true are:

  • Trajectory planner output is stationary (for more info, see signal path of motor drive)
  • and, following status bits are false:
    • Follow error recovery
    • Homing
    • Fault stop
    • Follow error warning
  • and, following status bits are true:
    • Initialized
    • Enabled
    • Run (drive active)
Enabled True when drive has enabled state on. This allows drive to control motor if no faults are active.
Run (drive active) True when drive is initializing or controlling motor. Goes false if enabled is false or faults are active
Homing active True when drive is performing homing sequence. Goes false after homing is complete or not enabled
Braking True when motor is being braked electrically and/or mechanically
Permanent stop True when drive requires restart before continuing motor control. Goes true when changing certain parameters or if initialization fails Restart drive to see if the state clears. If not, check parameterization and usage errors.
Voltages good True when HV DC bus voltage is withing configured range (from Under voltage fault thresholdFUV to Over voltage fault thresholdFOV)
Fault stopped True when drive is disabled true to active fault state Perform clear drive faults function (from Connect tab). If problem repeats, check motor & tuning parameters and operating conditions. See fault register and fault location for hints.
Ready for use a.k.a servo ready True when drive has performed all initializations, possible homing and is enabled and running. When true, drive is ready to follow user setpoint commands. The full logic of this bit is:
  • Statuses Run and Initialized are both true
  • Statuses Follow error recovery and Homing are both false
  • If homing has been enabled (Homing enabledHME is not Disabled), then homing has completed successfully (i.e. not failed or aborted)
  • Drive power stage is operational (there is small, typicall5y <0.2 second, initialization delay from rise of Enable/Clear faults signal to have power stage operational)
STO active True when safe torque off is active. In Argon this monitors only STO2.