23
P94PFB01A
Drive Control and Status
7.2.4 Stop Motion
PID136 - Stop Motion
Default: N/A
Range: 0 - 1
Access: WO
Type: Integer
This is the VAR_STOP_MOTION function.
0 - no action
1 - stops motion
7.3 Status Word
There are several status words and individual staus bits / flags available within PositionServo that can be
read from through cyclic or acyclic communications
7.3.1 Status Flags Register
PID54 - DSTATUS
Default: N/A
Range:
Access: RO
Type: Integer
This is the VAR_DSTATUS function.
Table 11: DSTATUS Register
Bit in register
Description
0
Set when drive enabled
1
Set if DSP subsystem at any fault
2
Set if drive has a valid program
3
Set if byte-code or system or DSP at any fault
4
Set if drive has a valid source code
5
Set if motion completed and target position is within specified limits
6
Set when scope is triggered and data collected
7
Set if motion stack is full
8
Set if motion stack is empty
9
Set if byte-code halted
10
Set if byte-code is running
11
Set if byte-code is set to run in step mode
12
Set if byte-code is reached the end of program
13
Set if current limit is reached
14
Set if byte-code at fault
15
Set if no valid motor selected
16
Set if byte-code at arithmetic fault
17
Set if byte-code at user fault
18
Set if DSP initialization completed
19
Set if registration has been triggered
20
Set if registration variable was updated from DSP after last trigger
21
Set if motion module at fault
22
Set if motion suspended
23
Set if program requested to suspend motion