Difference between revisions of "MC-Basic:element.MOTIONSTATUS"

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Bit [8-11]  acc_phase
 
Bit [8-11]  acc_phase
 
:(<element>.motionstatus shr 8) band 0b1111
 
:(<element>.motionstatus shr 8) band 0b1111
:0 = element acceleration is increasing
+
:[000] = element acceleration is increasing
:1 = In position
+
:[001] = In position
:2 = acceleration decrease
+
:[010] = acceleration decrease
:3 = zero acceleration
+
:[011] = zero acceleration
:4 = Trapez Linear acceleration is increasing
+
:[100] = Trapez Linear acceleration is increasing
:5 = Trapez acceleration satruration
+
:[101] = Trapez acceleration satruration
:6 = Trapez acceleration decreasing
+
:[110] = Trapez acceleration decreasing
:7 = Trapez zero acceleration
+
:[111] = Trapez zero acceleration
  
 
Bit [12-14] mot_type
 
Bit [12-14] mot_type

Revision as of 08:09, 17 July 2011

This read-only property queries the motion status of an element. The element status is returned every SERCOS communication cycle and comprises of 32 bits:

Bit [0] prf_stop

Bit [1] prf_start

Bit [2-3] prf_oper

Bit [4-5] prf_mode

Bit [6-7] prf_type

Bit [8-11] acc_phase

(<element>.motionstatus shr 8) band 0b1111
[000] = element acceleration is increasing
[001] = In position
[010] = acceleration decrease
[011] = zero acceleration
[100] = Trapez Linear acceleration is increasing
[101] = Trapez acceleration satruration
[110] = Trapez acceleration decreasing
[111] = Trapez zero acceleration

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