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 of 32 bits: | 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] | + | Bit[0] motion reached (position or velocity) target (1), target did not reached yet(0) |
Bit[1] in motion (0) standing still (1) | Bit[1] in motion (0) standing still (1) | ||
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Bit [2-3] prf_oper | Bit [2-3] prf_oper | ||
| − | Bit [4-5] | + | Bit [4-5] profile mode (internal flag)=1 if final velocity reached |
| − | Bit [6-7] type of profile | + | Bit [6-7] type of profile, see [[Axystems:MC-Basic:axis.profileType|axis.profileType]] |
Bit [8-11] acc_phase | Bit [8-11] acc_phase | ||
Revision as of 13:33, 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] motion reached (position or velocity) target (1), target did not reached yet(0)
Bit[1] in motion (0) standing still (1)
Bit [2-3] prf_oper
Bit [4-5] profile mode (internal flag)=1 if final velocity reached
Bit [6-7] type of profile, see axis.profileType
Bit [8-11] acc_phase
- (<element>.motionstatus shr 8) band 0b1111
- [0000] = element acceleration is increasing
- [0001] = In position
- [0010] = acceleration decrease
- [0011] = zero acceleration
- [0100] = Trapez Linear acceleration is increasing
- [0101] = Trapez acceleration satruration
- [0110] = Trapez acceleration decreasing
- [0111] = 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