TITAN-SVX Software Manual
page 34
Rev 4.01
A.14.5. Motor Status
To read the status, use the command
MST
. The reply to this command will be a
hex number that represents the motor status with each bit representing the
various states of the motion.
Bit Name
0
Enabled
1
In-Position
2
Moving
3
In Fault
Table A.13
MST
Value
Enabled
In
Pos
Moving
Fault
Description
0x0
0
0
0
0
The motor power is off and disabled. To enable
the servo, use
SVON
command. Before any
motion, servo must be on.
0x1
X
0
0
0
The motor is enabled and in closed loop servo,
but not moving and not in position. In-Pos
range can be increased using
INPOSVAL
command.
0x3
X
X
0
0
The motor is enabled and in closed loop servo,
and the current position is within in-pos value
of the target. To turn off the servo, use
SVOFF
command
0x4
0
0
X
0
The motor is disabled but moving. This
situation should not happen unless the motor is
disabled but it is still moving somehow.
0x5
X
0
X
0
The motor is enabled and moving. To stop the
motion, use
STOPX
command
0x8
0
0
0
X
The motor is in fault. The fault must be cleared
before any motion can be done. To clear the
fault, use
ECLEARX
command.
Table A.14
To Read Motor Status
Command:
@01:MST
Reply:
#01:MST=0x3
Notes:
•
MST
is a read-only command.
