SMAC
LAC-26 Technical Reference Manual
4/29/2013 25
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 “1” when the servo is enabled
via the Motor On (MN) command. A “0” 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 “1” 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 “1” in this bit
position indicates that an over-
temperature
condition has occurred
or the external fault input has
been activated.
3
Breakpoint Reached.
A “1” 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 “1” in this bit position indicates that the servo
has completed a commanded move. A “0” indicates that the servo is busy
executing a commanded move.
5
Servo Stopping.
A “1” 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 “1” 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 “1” 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 “1” in this bit position indicates that the
Coarse Home input is active.
14
Capture Index Flag.
A “1” 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 “1” in this bit position indicates that the servo is
currently accelerating.
17
Position Mode.
A “1” in this bit position indicates that the servo is
currently operating in position mode.
18
Velocity Mode.
A “1” in this bit position indicates that the servo is
currently operating in velocity mode.
19
Torque Mode.
A “1” in this bit position indicates that the servo is
currently
operating in (voltage) torque mode.
20
Current Mode.
A “1” in this bit position indicates that the servo is
currently operating in (current) torque mode).
21
Reserved.
22
Electronic Gearing Mode.
A “1” in this bit position indicates that the servo is
currently operating in electronic gearing mode.
