B8961 and B8962 User Manual
124
Serial Immediate Status Commands
Note: All but the S and K commands require an address.
Command
Command Description and Application Examples
Syntax
SA
Tell Axis Status
Returns the current axis status as a four digit hexadecimal
number, preceded by an asterisk. Your controller program will
decode the hexadecimal number to determine the axis status.
Example: SA1 returns *002A<cr>. This means Axis 1 is not
moving, the last move completed successfully, and the home
switch is on.
<n>SA1
Status
16 15 14 13 12 11 10 9
8
7
6
5
4
3
2
1
off off off off off off off off off off on off on off on off
0
0
2
A
Description
bit # Parameter Definition
Not Moving
/Moving
1
1=Steps being sent to the amplifier
0=No steps being sent
At Velocity
2
1=Stepping at a constant rate (includes zero
velocity)
0=Step rate is changing
In Range
3
B8961/2 only
Move Command
Complete (Same as
Move Done Output)
4
1=The correct number of steps were sent with-
out an amp fault,following error, or hitting an End
of Travel limit.
0=Reset to zero at the beginning of each move.
Home Successful
5
1=The last homing move was successful
0=At power up,reset to zero at the start of the
next jog,GO,or GH.
Home Switch Status
6
Hardware status of home switch.
0=off,1=on
-Limit Switch Status
7
Hardware status of limit switch
0=off,1=on,limits require a NC switch
+Limit Switch Status
8
Hardware status of limit switch
0=off,1=on,limits require a NC switch
-Limit Switch Latched
9
1=Set when a move is terminated by a limit in
the - direction.Cleared at the start of a move in
the + direction.
0=At power up or reset,even if on the - limit.
+Limit Switch Latched
10
1=Set when a move is terminated by a limit in
the + direction.Cleared at the start of a move in
the - direction.
0=At power up or reset,even if on the + limit
RESERVED
11
State undefined,should be masked
RESERVED
12
State undefined,should be masked
RESERVED
13
State undefined,should be masked
RESERVED
14
State undefined,should be masked
RESERVED
15
State undefined,should be masked
RESERVED
16
State undefined,should be masked
Summary of Contents for B8961
Page 111: ...109 Chapter 7 Programming with Serial Communication...
Page 132: ...B8961 and B8962 User Manual 130...
Page 136: ...B8961 and B8962 User Manual 134 B8961 and B8962 Hardware Connections...
Page 137: ...135 Chapter 8 Hardware Reference B8961 and B8962 Input and Output Schematics...
Page 138: ...B8961 and B8962 User Manual 136 Connecting IDC Limit Switches to the B8961 2...
Page 156: ...B8961 and B8962 User Manual 154...
