Difference between revisions of "MC-Basic:element.MOTIONSTATUS"
m |
m |
||
| Line 13: | Line 13: | ||
Bit [0] prf_stop | Bit [0] prf_stop | ||
| + | |||
| + | Bit 15 - Drive high power. 1 - high power on<br> | ||
| + | Bit 14 - Drive status - 1 enabled, 0 disabled<br> | ||
| + | Bit 13 - Drive Shutdown - Error in C1D<br> | ||
| + | Bit 12 - Change bit for C2D<br> | ||
| + | Bit 11 - Change bit for C3D | ||
Bit [1] prf_start | Bit [1] prf_start | ||
| Line 24: | Line 30: | ||
Bit [8-11] acc_phase | Bit [8-11] acc_phase | ||
| − | This bit sequence indicates the state of the acceleration. | + | This bit sequence indicates the state of the acceleration. |
| − | Accstatus = (Ax.motionstatus shr 8) band 0b1111 | + | Accstatus = (Ax.motionstatus shr 8) band 0b1111 |
| − | 0 = element acceleration is increasing | + | 0 = element acceleration is increasing |
| − | 1 = In position | + | 1 = In position |
| − | 2 = acceleration decrease | + | 2 = acceleration decrease |
3 = zero acceleration | 3 = zero acceleration | ||
Revision as of 06:20, 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 15 - Drive high power. 1 - high power on
Bit 14 - Drive status - 1 enabled, 0 disabled
Bit 13 - Drive Shutdown - Error in C1D
Bit 12 - Change bit for C2D
Bit 11 - Change bit for C3D
Bit [1] prf_start
Bit [2-3] prf_oper
Bit [4-5] prf_mode
Bit [6-7] prf_type
Bit [8-11] acc_phase
This bit sequence 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
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
Syntax
none
Availability
All versions
Type
Long
Range
TBD
Scope
Configuration, Task or Terminal
Limitations
Read-Only
Examples
?(Ax.motionstatus shr 8) band 0b1111