ElmoMC SimplIQ Command Reference - Manual (Page 110)

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.
ƒ
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.
ƒ For speed control modes (UM=2), MS reports as follows:
Value Description
0 Not applicable for this mode.
1 ƒ The reference to the speed controller equals the speed target. (This is
always the case if no profiler mode is used: PM=0.)
ƒ 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 target speed JV.
3 Reserved.
Attributes: Type: Status report, Integer
Scope: Program, RS-232, CANopen
Restrictions: None
Unit modes: All
See also:
PM , RM , DV[N] , AC , DC , TR
SimplIQ Command Reference Manual Alphabetical Listing
MAN-SIMCR (Ver. 4.5)
3-97