i-Motor Status Byte and Word Breakdown
- Marisol Hernandez (Unlicensed)
- Eric Rojas (Unlicensed)
For troubleshooting or reacting to an error condition, there are two commands that give an immense amount of information about the condition of your i-Motor. These two commands are listed below.
PS = Print Status Byte
PW = Print Status Word
Below is a breakdown of each status command. Note, you can query the individual bits as well, but this is not as efficient.
STATUS BYTE (PS) | ||||
|---|---|---|---|---|
Bit Name | Description | Bit # | Value | Notes |
Fo | Motor ON/OFF Status | 7 | 128 | Real Time |
Fh | Excessive Temperature Occurred | 6 | 64 | Real Time |
Fe | Excessive Position Error Occurred | 5 | 32 | Historical, Reset by "G" |
Fw | Wraparound Occurred | 4 | 16 | Historical, Reset by "G", "TM" or "Zw" |
Fi | Index Report Available | 3 | 8 | Historical, Reset by "PI" or using the "I" operand |
Fl | Historical Left Limit | 2 | 4 | Historical, Reset by "Zl", "ZS", "PS" or "PW" |
Fr | Historical Right Limit | 1 | 2 | Historical, Reset by "Zr", "ZS", "PS" or "PW" |
Ft | Trajectory in Progress | 0 | 1 | Real Time |
STATUS WORD (PW) | ||||
|---|---|---|---|---|
Bit Name | Description | Bit # | Value | Notes |
Fk | Over Current State Occurred | 15 | 32768 | Real Time |
Fa | Over Current State Occurred | 14 | 16384 | Historical, Reset by "Za" or "ZS" |
Fs | Syntax Error Occurred | 13 | 8192 | Historical, Reset by "Zs" or "ZS" |
Fu | User Array Index Range Error Occurred | 12 | 4096 | Historical, Reset by "Zu" or "ZS" |
Fd | User Math Overflow Occurred | 11 | 2048 | Historical, Reset by "Zd" or "ZS" |
Fm | Left Limit Active | 10 | 1024 | Real Time |
Fp | Right Limit Active | 9 | 512 | Real Time |
Fx | Hardware Index Input Level | 8 | 256 | Real Time |
Fo | Motor ON/OFF Status | 7 | 128 | Real Time |
Fh | Excessive Temperature Occurred | 6 | 64 | Real Time |
Fe | Excessive Position Error Occurred | 5 | 32 | Historical, Reset by "G" |
Fw | Wraparound Occurred | 4 | 16 | Historical, Reset by "G", "TM" or "Zw" |
Fi | Index Report Available | 3 | 8 | Historical, Reset by "PI" or using the "I" operand |
Fl | Historical Left Limit | 2 | 4 | Historical, Reset by "Zl", "ZS", "PS" or "PW" |
Fr | Historical Right Limit | 1 | 2 | Historical, Reset by "Zr", "ZS", "PS" or "PW" |
Ft | Trajectory in Progress | 0 | 1 | Real Time |
COMMUNICATION STATUS BITS | ||
|---|---|---|
Bit Name | Description | Notes |
Fb | Parity Error Occurred | Historical, Reset by "Zb" or "ZS" |
Fc | Communication Overflow Occurred | Historical, Reset by "Zc" or "ZS" |
Ff | Communications Framing Error Occurred | Historical, Reset by "Zf" or "ZS" |