Difference between revisions of "MC-Basic:element.MOTIONSTATUS"
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Bit [4-5] prf_mode | Bit [4-5] prf_mode | ||
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Bit [6-7] prf_type | Bit [6-7] prf_type | ||
| + | |||
Bit [8-11] acc_phase | Bit [8-11] acc_phase | ||
| + | |||
Bit [12-14] mot_type | Bit [12-14] mot_type | ||
| + | |||
Bit [15] doub_mod | Bit [15] doub_mod | ||
| + | |||
Bit [16] sinprg | Bit [16] sinprg | ||
| + | |||
Bit [17] group_axes | Bit [17] group_axes | ||
| + | |||
Bit [18-20] allow_proceed | Bit [18-20] allow_proceed | ||
| + | |||
Bit [21-22] unusedH | Bit [21-22] unusedH | ||
| + | |||
Bit [23] imm_exp | Bit [23] imm_exp | ||
| + | |||
Bit [24] imm_chng | Bit [24] imm_chng | ||
| + | |||
Bit [25] stopped | Bit [25] stopped | ||
| + | |||
Bit [26] interrupted | Bit [26] interrupted | ||
| + | |||
Bit [27] pending | Bit [27] pending | ||
| + | |||
Bit [28-30] broken_counter | Bit [28-30] broken_counter | ||
| + | |||
Bit [31] sing | Bit [31] sing | ||
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This flag indicates the state of the acceleration. | This flag indicates the state of the acceleration. | ||
Revision as of 06:14, 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:
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
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] sing
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