102
Atlas® Digital Amplifier Complete Technical Reference
6
GetDriveFaultStatus
6D
h
Syntax
GetDriveFaultStatus
Motor Types
Arguments
None
Returned Data
Type
status
unsigned 16 bits
see below
Packet
Structure
Description
GetDriveFaultStatus
gets the Drive Fault Status register, which is used to report the cause of
several disabling events.
The table below shows the bit definitions of the Drive Fault Status register.
All of the fault bits are associated with the Drive Exception event, and indicate the cause of that
event. When the Drive Exception event is raised motor output is always disabled.
Operating Mode Mismatch means that a torque command was received when Atlas motor output
was not enabled.
Watchdog Timeout means that no valid communication was received from a controlling SPI
processor for the watchdog period, which is set using the
SetDriveFaultParameter
command.
Disabled means that an inactive ~Enable signal was seen.
Overcurrent means that an excessive bus or bridge leg current was detected.
Over Voltage and Under Voltage mean that the bus voltage was outside acceptable limits, which
may be modified by using the
SetDriveFaultParameter
command.
Current Foldback means that a current foldback event has ocurred.
Overtemperature means that the internal temperature reading has exceeded the limit, which may be
specified using the
SetDriveFaultFaultParameter
command.
DC Brush
Brushless DC
Microstepping
GetDriveFaultStatus
checksum
6D
h
15
8 7
0
First Data Word
read
DriveFaultStatus
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
Name
Bit
Overcurrent Fault
0
—
(Reserved)
—
(Reserved)
Operating Mode Mismatch
3
Watchdog Timeout
4
Overvoltage Fault
5
Undervoltage Fault
6
Disabled by ~Enable
7
Current Foldback
8
Overtemperature
9
SPI Checksum Error
10
—
(Reserved)
11–15
