Reference Manual

PMAC 2 Software Reference
PMAC On-Line Command Specification 189
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Function
Report motor status
Scope
Motor specific
Syntax
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Remarks
This command causes PMAC to report the motor status bits as an ASCII hexadecimal word.
PMAC returns twelve characters, representing two status words. Each character represents
four status bits. The first character represents Bits 20-23 of the first word; the second shows
Bits 16-19; and so on, to the sixth character representing Bits 0-3. The seventh character
represents Bits 20-23 of the second word; the twelfth character represents Bits 0-3.
The value of a bit is 1 when the condition is true; 0 when it is false. The meaning of the
individual bits is:
FIRST WORD RETURNED (X:$003D, X:$0079, etc.)
:
First character returned
:
Bit 23 Motor Activated: This bit is 1 when Ix00 is 1 and the motor calculations are
active; it is 0 when Ix00 is 0 and motor calculations are deactivated.
Bit 22 Negative End Limit Set: This bit is 1 when motor actual position is less than
the software negative position limit (Ix14), or when the hardware limit on this end (+LIMn –
note!) has been tripped; it is 0 otherwise. If the motor is deactivated (bit 23 of the first motor
status word set to zero) or killed (bit 14 of the second motor status word set to zero) this bit is
not updated.
Bit 21 Positive End Limit Set: This bit is 1 when motor actual position is greater
than the software positive position limit (Ix13), or when the hardware limit on this end (-
LIMn – note!) has been tripped; it is 0 otherwise. If the motor is deactivated (bit 23 of the
first motor status word set to zero) or killed (bit 14 of the second motor status word set to
zero) this bit is not updated.
Bit 20 Handwheel Enabled: This bit is 1 when Ix06 is 1 and position following for
this axis is enabled; it is 0 when Ix06 is 0 and position following is disabled.
Second character returned
:
Bit 19 Phased Motor: This bit is 1 when Ix01 is 1 and this motor is being
commutated by PMAC; it is 0 when Ix01 is 0 and this motor is not being commutated by
PMAC.
Bit 18 Open Loop Mode: This bit is 1 when the servo loop for the motor is open,
either with outputs enabled or disabled (killed). (Refer to Amplifier Enabled status bit to
distinguish between the two cases.) It is 0 when the servo loop is closed (under position
control, always with outputs enabled).
Bit 17 Running Definite-Time Move: This bit is 1 when the motor is executing any
move with a predefined end-point and end-time. This includes any motion program move
dwell or delay, any jog-to-position move, and the portion of a homing search move after the
trigger has been found. It is 0 otherwise. It changes from 1 to 0 when execution of the
commanded move finishes.
Bit 16 Integration Mode: This bit is 1 when Ix34 is 1 and the servo loop integrator
is only active when desired velocity is zero. It is 0 when Ix34 is 0 and the servo loop
integrator is always active.