AXIS#.MOTIONSTAT

Motion task is active

Home position found

Home done. This bit is set after the home position is found and the axis has stopped moving. If there is an error during homing, this bit is not set.

Homing active. The axis is currently searching for the home position.

Homing error. When using modes 4, 5 or 6 this is generated if no home switch was found between the two hardware limit switches.

Slave in electronic gearing mode synchronized (high active).

Electronic gearing is active

Reserved.

Reserved.

Service motion active

A motion task could not be activated /invalid MT*

Bit 11 will be set after the motion task has finished it’s “trajectory” and the actual position is within the motion task target position window (AXIS#.SETTLE.P).

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• The difference between Bit 15 and Bit 11 is that Bit 15 does not wait until the trajectory is completed

Motion task target velocity has been reached. This bit will be set when a running motion task is at the slew velocity and the measured speed AXIS#.VL.FBFILTER is within AXIS#.SETTLE.V of the slew speed.

Motion task encountered an exception. An exception can occur when the specified velocity cannot be reached during the motion task, to avoid overshooting the final position. An exception can also occur when a new motion task begins before the current motion task reaches zero velocity, the new motion task causes a change in direction, and the transient motion during the direction change is large.

The target position of a motion task has been crossed. This situation occurs for motion tasks with a change on the fly when triggering the AXIS#.STOP command just before the reaching the target velocity of the current active motion task. The ramp-down procedure with the motion task deceleration ramp causes the target position to be crossed (high active).

Bit 15 will be set if the actual position is within the motion task target position window (AXIS#.SETTLE.P).

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• The difference between Bit 15 and Bit 11 is that Bit 15 does not wait until the trajectory is completed.

|(AXIS#.PL.CMD – AXIS#.PL.FB )| < AXIS#.SETTLE.P the value will be 1, otherwise 0

|(AXIS#.TRAJ.VCMD – AXIS#.VL.FB )| < AXIS#.SETTLE.V the value will be 1, otherwise 0

Read Only

N/A

0 to 4,294,967,295

N/A

Integer (bit-field)