Motor/axis status register can be read anytime using MST[axis] command.  The reply contains information about the motor status, including error status (such as end limit stop, alarm stop, and EMG stop). Value of the motor status is relayed as an integer value with the following bit assignment:

Bit

Function

Condition

0

Accelerating

0: Not Accelerating                    1: Accelerating

1

Decelerating

0: Not Decelerating                   1: Decelerating

2

Constant Speed

0: Not at Constant Speed           1: At Constant Speed

3

Alarm Signal Input Status

0: OFF                                     1: ON

4

Positive End Limit Status

0: OFF                                     1: ON

5

Negative End Limit Status

0: OFF                                     1: ON

6

Home or Origin Status

0: OFF                                     1: ON

7

Slowdown Input Status

0: OFF                                     1: ON

8

Positive End Limit Error*

0: No Error                               1: Error

9

Negative End Limit Error*

0: No Error                               1: Error

10

Alarm Error*

0: No Error                               1: Error

11

In-Position Input Status

0: OFF                                     1: ON

12

Deviation Counter Clear

0: OFF                                     1: ON

13

Z-index Input Status

0: OFF                                     1: ON

14

External Status Input

0: OFF                                     1: ON

15

EMG Signal Status

0: OFF                                     1: ON

16

EMG Error Status*

0: No Error                               1: Error

17

Stop by Slowdown Detection⋄

0: Not Stopped                          1: Stopped

18

Wait for In-Position Input Status

0: Not Waiting                           1: Wait

19

Wait for External Start Signal Input

0: Not Waiting                           1: Wait

MST command

Additional information on this register can be found in the command reference. 


Footnote:

* For Bits 8, 9, 10, and 16 (+ end limit, - end limit, alarm, and EMG errors), errors must be canceled with the CLR command before next operation.

⋄ For Bit 17 (Slowdown Detection), additional operations can be performed with flag ON (1) but the flag will remain ON until canceled by CLR command.


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