SERCOS drives don't use the Drive Enable output from the XL. They are enabled through the SERCOS communication to the drive. The drive also reports back its enabled status through the same communication.

This change expands upon the change that was made in SCN 4583 where the enabled status from the drive was monitored to terminate Multi-Axis moves. Now all SERCOS drives are monitored.

As long as SERCOS communication is fully active, in phase four with full cyclical data transfer we can monitor the state of the drives enabled status.

If we attempt to enable the drive and it fails or if the drive loses its enabled state for external reasons we will display an error message informing them that the drive failed to enable or became disabled and to check the state of the drive for faults or any condition that prevents normal operation.