ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference - Manual (Page 119)

MS – Motion Status
Purpose:
Reports the status of the motion profiling process. MS can be used for detecting the end
of motions: a PTP motion that has reached its target, or a completed PT or PVT motion.
For position control modes (UM=3, 4, 5), MS reports as follows:
Value Description
0 Motor position stabilized. The feedback position is steady within the
ranges defined by TR. Note that value 0 is applicable only when there
is a defined position target, as in PTP.
1 The reference for the position controller is stationary, or the motor is off
(MO=0).
2 The reference to the position controller is dynamically controlled by
one of the optional motion profilers: PTP, Jog, PT or PVT.
3 Reserved.
MS reflects only the software motions. It does not indicate anything about the
behavior of the external reference command.
For speed control modes (UM=2), MS reports as follows:
Value Description
0 Not applicable for this mode.
1
The reference to the speed controller equals the speed target.
(This is always the case if no profiler mode is used: PM=0.)
The motor is off (MO=0).
2 The software reference to the speed controller differs from the speed
target. In software profiled reference mode (PM=1, RM=0), this is the
case while accelerating, decelerating or smoothing to the JV target speed.
3 Reserved.
Attributes: Type: Status report, Integer
Scope: Program, RS-232, CANopen
Restrictions: None
Unit modes: All
SimplIQ: Similar
See also:
PM , RM , DV[N] , AC , DC , TR
Application note:
Idle Mode and Motion Status
SimplIQ for Steppers Command Reference Manual Alphabetical Listing
MAN-STECR (Ver. 1.1)
111