Elmomc SimplIQ Command Reference Manuel d'utilisateur télécharger pdf (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.

 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 target speed JV.

3 Reserved.

Attributes: Type: Status report, Integer

Scope: Program, RS-232, CANopen

Restrictions: None

Unit modes: All

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Elmomc SimplIQ Command Reference Manuel d'utilisateur Page 110