SMAC
LAC-25 Technical Reference Manual
34
Command:
aTS
-- Tell Status Word --
This command reports the operating status word of servo axis 'a'. The response is coded into
a single 32 bit value. The meaning of each bit is listed below:
Bit
Purpose
0
Servo Enabled.
This bit will be set to Ò1Ó when the servo is enabled
via the Motor On (MN) command. A Ò0Ó indicates that the servo has
been disabled via one of the following reasons: a Motor Off (MF)
command, a servo error due to excessive following error or over
temperature condition, a limit event, an external fault.
1
Servo Error.
A Ò1Ó in this bit position indicates that the maximum
servo following error or over-temperature condition has occurred, or
the external fault has been activated.
2
Over Temperature.
A Ò1Ó in this bit position indicates that an over-
temperature condition has occurred or the external fault input has
been activated.
3
Breakpoint Reached.
A Ò1Ó in this bit position indicates that a
previously defined breakpoint has been reached. This bit will be reset
by any of the following commands: Motor On (MN), Interrupt on
Position (IR), Interrupt on Relative Position (IR).
4
Trajectory Complete.
A Ò1Ó in this bit position indicates that the servo
has completed a commanded move. A Ò0Ó indicates that the servo is
busy executing a commanded move.
5
Servo Stopping.
A Ò1Ó in this bit position indicated that the servo has
been commanded to stop. Upon stopping, this bit is then cleared.
6
Current Direction.
This bit indicated the current direction of travel for
the servo. (0 = Positive, 1 = Negative)
7
Desired Direction.
This bit indicates the direction commanded by
the Direction (DI) command. (0 = Positive, 1 = Negative)
8
Reserved.
9
Reserved.
10
Looking for Index.
A Ò1Ó in this bit position indicates that the IMCSA
is currently watching for an index pulse to occur as commanded by
the Find Index (FI) command.
11
Looking for Edge.
A Ò1Ó in this bit position indicates that the IMCSA
is currently watching for the Coarse Home input to go active as
commanded by the Find Edge (FE) command.
12
Reserved.
13
Coarse Home Input Active.
A Ò1Ó in this bit position indicates that the
Coarse Home input is active.
14
Capture Index Flag.
A Ò1Ó in this bit position indicates that the Find
Index (FI) command is trying to capture the position on occurrence of
an index pulse as opposed to initializing the position.
15
Reserved.
16
Accelerating.?
A Ò1Ó in this bit position indicates that the servo is
currently accelerating.
17
Position Mode.
A Ò1Ó in this bit position indicates that the servo is
currently operating in position mode.
18
Velocity Mode.
A Ò1Ó in this bit position indicates that the servo is
currently operating in velocity mode.
19
Torque Mode.
A Ò1Ó in this bit position indicates that the servo is
currently operating in (voltage) torque mode.
20
Current Mode.
A Ò1Ó in this bit position indicates that the servo is
currently operating in (current) torque mode).
21
Reserved.
