The axis "system" status word is reported back to GPL at a fixed rate. This status word is composed of status flags from various servo sub-systems.

From the axis object:
   bit 0 - actual motion is done and settled
   bit 1 - axis calibrated (homed) flag
   bit 2 - cal seek command success flag
   bit 3 - home switch DIN active state
   bit 4 - positive overtravel DIN active state
   bit 5 - negative overtravel DIN active state
   bit 6 - positive hardstop found state
   bit 7 - negative hardstop found state

From the amplifier object:

   bit 8 - motor commutation ready flag
   bit 9 - brake release state
   bit 10 - amplifier enabled state
   bit 11 - high power enable state
   bit 12 - encoder initializing after system booted
   bit 13:15 - (reserved)

From the error system:

   bit 16 - soft error, which causes motion to stop but arm power remains on
   bit 17 - hard error, which causes motion to stop & arm power OFF
   bit 18 - severe error, which causes immediate power shut down
   bit 19 - fatal error, which causes immediate power shut down, and the arm power is prevented from being re-enabled until the system is restarted
   bit 20:31 - (reserved)

The axis internal status word. The bit definitions are as follow:

   bit 0:7 - (same as bit 0:7 definitions in data ID 12100)
   bit 8 - servo mode transition interlock
   bit 9 - axis is in calibration (homing) mode
   bit 10 - axis is in ACTIVE mode
   bit 11:15 - (reserved)
   bit 16 - axis severe or fatal error was raised
   bit 17:31 - (reserved)

Axis operation mode. This word indicates the current mode being executed by the servo code.  The following are the bit definitions:

   bit 0:3, the servo feedback loop operation mode has the following bit values. They are mutually exclusive:
       bit 0 - in twang mode
       bit 1 - in current loop (also asserts bit 8)
       bit 2 - in velocity loop
       bit 3 - in position loop
   bit 4:8, the servo input command mode has following bit values. They are mutually exclusive:
       bit 4 - GPL trajectory control
       bit 5 - async command control
       bit 6 - wave generator control
       bit 7 - setpoint buffer control (not supported yet)
       bit 8 - current loop or AIN-torque control enabled.  If standard current loop control is enabled, both bits 1 and 8 will be on.
   bit 9:15 - (reserved)
   bit 16 - axis is in MANUAL mode
   bit 17 - axis is going through power-up sequence
   bit 18 - axis in commutation reference setup
   bit 19:31 - (reserved)

Axis settling time in seconds. The settling time is measured starting from the end of a commanded move, till the feedback satisfies the settling criteria (tracking error falls within an in-range tolerance window for a specified amount of time).

Number of the most recent setpoint message packet that the axis has received.  This number is assigned sequentially from the time that the controller was booted and rolls over to 0 after the value 65535 is reached.  This number should be the same for all axes in a control system.  For servos running on slave nodes of a Servo Networked system, if this number does not match the value of the axes on the master controller it indicates that a synchronous setpoint message packet has been lost due to communication errors or delayed due a system problem.  If this error occurs while robot power is enabled, the "Servo setpoint sequence error count" (DataID 12082) will be incremented.

If this error occurs, (1) verify that the Ethernet cables are all made with shielded twisted pairs to avoid electrical noise, (2) that the cables are not routed close to high voltage, high frequency lines, (3) that the Ethernet network is properly configured (i.e. no duplicate IP addresses), and (4) that the Ethernet cable routing is as direct as possible with only 100Mb or faster Ethernet Switches (not Hubs) used to connect cables.