Status Word 1

Byte 0 for Axis 1; Byte 64 for Axis 2 of the Response Assembly.

Bit Definition Description
0 In Motion

This bit indicates whether a trajectory is in progress (1) or has completed (0).

This bit is set immediately when motion begins and remains set for the entire motion.
1 Block in Execution When set, this bit indicates the axis is running a Motion Task. The Index, also called the Block Number, of the Motion Task can be monitored in the Response Assembly's Executing Block # (byte1 for Axis 1; Byte 65 for Axis 2) in Response Assembly.
2

In Position

This The In Position bit indicates whether or not the motor is on the last targeted position. (1 = On Target)
3

General Fault

 This bit indicates whether or not a fault has occurred.
4 Current Direction This bit reflects the actual direction of motion.
5 Homed This bit is set when the drive has been successfully Homed.
6 Reserved  
7 Enable State This bit reflects the Enable State of the amplifier.