MC-Basic:element.MOTIONSTATUS

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

See Also

• axis.ISSETTLED
• axis.ISMOVING