Difference between revisions of "MC-Basic:element.MOTIONSTATUS"
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| + | {{Languages|MC-Basic:element.MOTIONSTATUS}} | ||
{{MC-Basic | {{MC-Basic | ||
|SHORT FORM= | |SHORT FORM= | ||
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|SYNTAX= | |SYNTAX= | ||
| − | + | None | |
|AVAILABILITY= | |AVAILABILITY= | ||
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|DESCRIPTION= | |DESCRIPTION= | ||
| − | This | + | This read-only property queries the motion status of an element. The element status is returned at every SERCOS communication cycle and comprises 32 bits: |
| − | + | ||
| − | + | Bit [0] motion reached (position or velocity) target (1), target not yet reached (0) | |
| + | |||
| + | Bit [1] in motion (0), standing still (1) | ||
| + | |||
| + | Bit [2-3] (internal flag)=1 if element is braking | ||
| + | |||
| + | Bit [4-5] profile mode (internal flag)=1 if final velocity reached | ||
| + | |||
| + | Bit [6-7] type of profile, see [[MC-Basic:axis.profileType|axis.profileType]] | ||
| + | |||
| + | Bit [8-11] acc_phase | ||
| + | :(<''element''>.motionstatus shr 8) band 0b1111 | ||
| + | :[0000] = element acceleration is increasing | ||
| + | :[0001] = constant acceleration (acc saturation or max jerk) | ||
| + | :[0010] = acceleration decrease | ||
| + | :[0011] = zero acceleration | ||
| + | :[0100] = | ||
| + | :[0101] = Trapeze acceleration | ||
| + | :[0110] = Trapeze deceleration | ||
| + | :[0111] = | ||
| + | |||
| + | Bit [12-14] mot_type | ||
| + | |||
| + | Bit [15] doub_mod | ||
| + | |||
| + | Bit [16] sinprg | ||
| + | |||
| + | Bit [17] group_axes | ||
| + | |||
| + | Bit [18-20] allow_proceed | ||
| + | |||
| + | Bit [21-22] unusedH | ||
| + | |||
| + | Bit [23] imm_exp | ||
| + | |||
| + | Bit [24] imm_chng | ||
| + | |||
| + | Bit [25] stopped | ||
| + | |||
| + | Bit [26] interrupted | ||
| + | |||
| + | Bit [27] pending | ||
| + | |||
| + | Bit [28-30] broken_counter | ||
| + | |||
| + | Bit [31] sign | ||
| + | |||
| + | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
|TYPE= | |TYPE= | ||
Long | Long | ||
| − | |||
| − | |||
| − | |||
|UNITS= | |UNITS= | ||
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|LIMITATIONS= | |LIMITATIONS= | ||
| − | Read | + | Read only |
|EXAMPLE= | |EXAMPLE= | ||
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|SEE ALSO= | |SEE ALSO= | ||
| − | * [[ | + | * [[MC-Basic:element.ISSETTLED|ISSETTLED]] |
| − | * [[ | + | * [[MC-Basic:element.ISMOVING|ISMOVING]] |
}} | }} | ||
Latest revision as of 11:08, 13 September 2017
| Language: | English • 中文（简体） |
|---|
This read-only property queries the motion status of an element. The element status is returned at every SERCOS communication cycle and comprises 32 bits:
Bit [0] motion reached (position or velocity) target (1), target not yet reached (0)
Bit [1] in motion (0), standing still (1)
Bit [2-3] (internal flag)=1 if element is braking
Bit [4-5] profile mode (internal flag)=1 if final velocity reached
Bit [6-7] type of profile, see axis.profileType
Bit [8-11] acc_phase
- (<element>.motionstatus shr 8) band 0b1111
- [0000] = element acceleration is increasing
- [0001] = constant acceleration (acc saturation or max jerk)
- [0010] = acceleration decrease
- [0011] = zero acceleration
- [0100] =
- [0101] = Trapeze acceleration
- [0110] = Trapeze deceleration
- [0111] =
Bit [12-14] mot_type
Bit [15] doub_mod
Bit [16] sinprg
Bit [17] group_axes
Bit [18-20] allow_proceed
Bit [21-22] unusedH
Bit [23] imm_exp
Bit [24] imm_chng
Bit [25] stopped
Bit [26] interrupted
Bit [27] pending
Bit [28-30] broken_counter
Bit [31] sign
Syntax
None
Availability
All versions
Type
Long
Scope
Configuration, Task or Terminal
Limitations
Read only
Examples
?(Ax.motionstatus shr 8) band 0b1111