Saia PCD2.H310, Manual

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PCD2.H31x Summary of software elements
26/762 E2
(2H3-AA-E.DOC)

SAIA-Burgess Electronics Ltd. Page A-15
RdStatRg
Instruction: Read Status Register
[09]
Function description:
This instruction can be used to read the status register. It must be exe-
cuted
before the flags 'fOnDest_x', 'fPosErr_x' and 'fBrkPt_x' can be
evaluated.
Reading the status register allows access to the following parameters:
bit 15: Host Interrupt
bit 14: Acceleration loaded
bit 13: Regulator parameters updated
bit 12: Forward direction
bit 11: Velocity mode
bit 10: On Target
bit 9: Turn off upon excessive position error
bit 8: Internal use only
bit 7: Motor off
bit 6: Breakpoint reached
bit 5: Excessive position error
bit 4: Wraparound occurred
bit 3: Index pulse acquired
bit 2: Trajectory complete
bit 1: Internal use only
bit 0: Acquire next index pulse
The instruction should be called whenever the status register has to be
read.
Par. Designation/function Type Format Value Comment
= 1 Module number K 1 - 16
= 2 Instruction: RdStatRg
= 3 PCD register for value of
status register R integer 31 bit -2
30
.. +(2
30
- 1)
fOnDest_x Flag on destination F
fBrkPt_x Flag breakpoint reached F
fPosErr_x Flag excessive position error F
Exec
Function Block
Index modified: no
Processing time: 2.7 ms
= 2
= 1
RdStatRg
Module number = 3
Register
for result
fOnDest_x
fBrkPt_x
fPosErr_x