Difference between revisions of "MC-Basic:element.MOTIONSTATUS"
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This read-only property queries the motion status of an element. The element status is returned every SERCOS communication cycle and comprises 32 bits: | This read-only property queries the motion status of an element. The element status is returned every SERCOS communication cycle and comprises 32 bits: | ||
| − | + | short int prf_stop:1; // 0 | |
| − | + | short int prf_start:1; // 1 | |
| − | + | short int prf_oper:2; // 2..3 | |
| − | + | short int prf_mode:2; // 4..5 | |
| − | + | short int prf_type:2; // 6..7 | |
| − | + | short int acc_phase:4; // 8..11 | |
| − | + | short int mot_type:3; // 12..14 | |
| − | + | short int doub_mod:1; // 15 | |
| − | + | short int sinprg:1; // 16 | |
| − | + | short int group_axes:1; // 17 | |
| − | + | short int allow_proceed:3; // 18-19-20 | |
| − | + | short int unusedH:2; // 21..22 | |
| − | + | short int imm_exp:1; // 23 | |
| − | + | short int imm_chng:1; // 24 | |
| − | + | short int stopped:1; // 25 | |
| − | + | short int interrupted:1; // 26 | |
| − | + | short int pending:1; // 27 | |
| − | + | short int broken_counter:3; // 28..30 | |
| − | + | short int sign:1; // 31 | |
Revision as of 05:59, 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 32 bits: short int prf_stop:1; // 0 short int prf_start:1; // 1 short int prf_oper:2; // 2..3 short int prf_mode:2; // 4..5 short int prf_type:2; // 6..7 short int acc_phase:4; // 8..11 short int mot_type:3; // 12..14 short int doub_mod:1; // 15 short int sinprg:1; // 16 short int group_axes:1; // 17 short int allow_proceed:3; // 18-19-20 short int unusedH:2; // 21..22 short int imm_exp:1; // 23 short int imm_chng:1; // 24 short int stopped:1; // 25 short int interrupted:1; // 26 short int pending:1; // 27 short int broken_counter:3; // 28..30 short int sign:1; // 31
This flag indicates the state of the acceleration.
Accstatus = (Ax.motionstatus shr 8) band 0b1111
0 = element acceleration is increasing
1 = In position
2 = acceleration decrease
3 = zero acceleration
4 = Trapez Linear acceleration is increasing
5 = Trapez acceleration satruration
6 = Trapez acceleration decreasing
7 = Trapez zero acceleration
Syntax
none
Availability
All versions
Type
Long
Range
TBD
Scope
Configuration, Task or Terminal
Limitations
Read-Only
Examples
?(Ax.motionstatus shr 8) band 0b1111