Difference between revisions of "MC-Basic:element.MOTIONSTATUS"
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Bit [6-7] prf_type | Bit [6-7] prf_type | ||
| − | Bit [8-11] acc_phase | + | Bit [8-11] acc_phase |
| − | + | :(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 [12-14] mot_type | ||
Revision as of 06:35, 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
- (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