Status Bits Register

0x(hexadecimal)

This bit is set when a closed-loop position move is completed and the axis position is at the Command Position. This is defined as when the Target Position has reached the Command Position and the absolute difference between the Actual Position and the Command Position is less than the In Position Tolerance parameter. The In Position bit is not latched and will clear if the axis moves back outside the In Position window.

This bit will not be set after stopping due to a Closed Loop Halt or a Stop (Closed Loop) (6) command.

This bit is only used when controlling position in a mode that has a commanded position. Therefore, it will be clear in Open Loop, Velocity Control, or Position Control in modes such as gearing that have no final requested position.

This bit is set when a velocity move is completed and the axis velocity is at the Command Velocity. This is defined as when the Target Velocity has reached the Command Velocity and the absolute difference between the Actual Velocity and the Command Velocity is less than the At Velocity Tolerance parameter. The At Velocity bit is not latched and will clear if the axis speed moves back outside the At Velocity window.

This bit is only used when controlling velocity in a mode that has a requested velocity. Therefore, it will be clear in Open Loop, Position Control, or Velocity Control in modes such as gearing that have no final requested velocity. For these cases, to determine whether an axis has reached the constant velocity portion of the move, use the Target Generator State A and State B status bits.

This bit is set when the axis is in Open Loop control or in the Direct Output state.
This bit will be off when Pressure/Force Limit is enabled, even if the axis was in open loop previously.

This bit is set when the Fault Input on the axis is active. This bit does not latch like the Fault Input error bit.

This bit is set when the Positive Limit Input is active.

This bit is set when the Negative Limit Input is active.

This bit is set when the axis is stopped.

For control axes, this is defined as when the Target Velocity is zero and the Actual Velocity is less than the Stop Threshold parameter. The axis must be in closed-loop control.

For reference axes, this is defined as when the Actual Velocity is less than the Stop Threshold parameter.

The Input Estimated bit indicates that the position or velocity input is currently being estimated due to any of these errors:

• No Transducer Error

• Transducer Overflow Error

• Noise Error

Not all the error bits listed above apply to all input types. See the individual error bits for details.

"Estimated" means that the feedback value is not accurate. It does not necessarily mean that it is being estimated to a high degree of certainty.

Position Inputs

In general (see below for actual details), when one of the errors listed above occurs, the Input Estimated bit will turn on to indicate an error condition exists and the feedback value is being estimated. If the error condition occurs for successive 3 loop times, the associated error bit will be set. Once the underlying error condition has gone away, the Input Estimated bit will remain on for two loop times before clearing.

The Input Estimated bit is set in the following cases:

• If a No Transducer or Transducer Overflow condition exists, the Input Estimated bit is always set, even after the No Transducer or Transducer Overflow error bit is set following the first 3 loop times. The RMC estimates the position by extrapolating the last two positions.

• For the RMC150 MDT module, if a No Transducer condition exists, the Input Estimated bit will be on for up to 6 loop times before the No Transducer Error bit will be set.

• For non-Quadrature feedback, the Input Estimated bit is set if a Noise Error condition exists for less than 3 loop times. After the 3rd loop time, the Input Estimated bit will turn off and the Noise Error bit will be set.

• For Quadrature, if a Noise Error condition occurs due to an illegal Quadrature transition (e.g. overspeed), then the Input Estimated bit is always set, even after the Noise Error bit is set following the first 3 loop times.

Velocity, Pressure and Force Inputs (Analog and mV/V):

The Input Estimated bit is not set if a Noise Error condition exists. A Noise Error condition will immediately set the Noise Error bit.

If a No Transducer or Transducer Overflow condition exists, the Input Estimated bit is always set, even after the error bit is set following the first 3 loop times.

This bit is set when the Enable Output is on.

This bit is set when the Primary Target Generator has completed its course, that is, when a motion command has been completed. If the motion move is interrupted, e.g. due to a halt, the done bit will not be set because the last commanded motion was not completed.

Specific details on the Target Generator status bit are included in the help topics for each motion command.

Example 1:
After a Move Absolute command has been issued, this bit will turn on when the Target Position reached the requested position.

Example 2:
After a Move Velocity command has been issued, this bit will turn on when the Target Velocity has reached the requested speed.

The Target Generator State A and State B bits indicate the current state of the Primary Target Generator. For each motion type, the following table describes in general the state indicated by the combinations of A and B. These bits are only valid for motion commands.

Specific details on the Target Generator status bit are included in the help topics for each motion command.

See the Target Generator State A bit for a description of how these bits work. Specific details on the Target Generator status bit are also included in the help topics for each motion command.

When this bit is set, the axis in a Direct Output state. The axis is in open loop control, ignores all error bits, and the Auto Stops have no effect.

The Direct Output (9) command, and the Direct Output Halt will turn on this bit. If the axis is disabled with the Enable/Disable Axis (97) command, this bit will turn on. If the axis is enabled, any motion command (except Direct Output (9)) will turn off this bit.

Certain parameters that affect motion require the Direct Output Status bit to be on when changing their values.

RMC75/150:

Motion commands other than Direct Output (9) are not allowed on the axis if this bit is not set. This bit is set in the following cases:

• When the Enable Controller (7) or Enable/Disable Axis (97) command is issued to the axis

• When the axis enters RUN Mode.

The Enabled bit will be cleared when the axis is disabled via the Enable/Disable Axis (97) command.

RMC200:

No motion commands are allowed on the axis if this bit is not set. This bit is set in the following cases:

• When the Enable Controller (7) command is sent to the controller, if the Auto-Enable Axes setting in the Programming Properties dialog is checked.

• When the Enable/Disable Axis (97) command is sent to the axis to enable it.

• When the axis enters  Program mode or Run Mode, if the Auto-Enable Axes setting in the Programming Properties dialog is checked.

The Enabled bit will be cleared when the axis is disabled via the Enable/Disable Axis (97) command, a Disable Axis AutoStop, or when the controller enters Disabled Mode.

This bit is set when External Halt has occurred. An External Halt can only be triggered by an Auto Stop.

This bit is set when one of the following halts occurs: Open Loop Halt, Open Loop Halt with Disable Drive, or Closed Loop Halt.

These halts can then be triggered via Auto Stops or via explicit commands - see each halt topic for details.

This bit is set when the axis is in closed-loop pressure or force control.

This bit will not be set for pressure/force limit; see the Pressure/Force Limit Enabled and Pressure/Force Limited bits below.

This bit is set when Pressure/Force Limit mode is enabled on the axis. When this bit is set, pressure or force will be limited to the Target Pressure/Force. Pressure/Force Limit mode can only be enabled or disabled with the Set Pressure/Force Limit Mode (40) command.

This bit does not indicate whether pressure/force is being limited. To determine whether pressure or force is being limited, see the Pressure/Force Limited bit.

This bit is set when the pressure/force is currently being limited. That is, the position or velocity control is actually being affected in order to limit the pressure/force. This bit can only be on if the Pressure/Force Limit Enabled bit is on. See the Pressure Limit topic for details on pressure control.

This bit will not be set in pressure/force control; see the Pressure/Force Control bit above.

This bit indicates that the Actual Pressure/Force has reached the Command Pressure/Force.

This bit is set when the Target Pressure/Force and the Actual Pressure/Force are at the Command Pressure/Force. This is defined as when the Pressure/Force Error is less than the At Pressure/Force Tolerance. The axis must be in closed-loop pressure/force control or pressure/force limit and the Pressure/Force Target Generator Done bit must be set.

If a Pressure/Force No Transducer or Pressure/Force Transducer Overflow condition exists, the Pressure/Force Input Estimated bit will turn on to indicate an error condition exists and the feedback value is being estimated. If the error condition occurs for successive 3 loop times, the associated Pressure/Force No Transducer or Pressure/Force Transducer Overflow error bit will be set.

The Pressure/Force Input Estimated bit is set as long as the error condition exists, even after the error bit is set following the first 3 loop times.

"Estimated" means that the feedback value is not accurate. It does not necessarily mean that it is being estimated to a high degree of certainty.

The Pressure/Force Input Estimated bit is not set if a Pressure/Force Noise Error condition exists. A Pressure/Force Noise Error condition will immediately set the Pressure/Force Noise Error bit.

This bit is set when the Pressure/Force Target Generator has completed its course, that is, when a pressure or force ramp has been completed. If the ramp is interrupted, e.g. due to a halt, the done bit will not be set because the ramp was not completed.

This bit is set to indicate the current state of the Pressure/Force Target Generator.

The Pressure/Force Target Generator State A and State B bits indicate the current state of the Pressure/Force Target Generator. For each motion type, the following table describes in general the state indicated by the combinations of A and B. These bits are only valid for motion commands.

Specific details on the Target Generator status bit are included in the help topics for each motion command.

See the Pressure/Force Target Generator State A bit for a description of how these bits work. This bit is set to indicate the current state of the Pressure/Force Target Generator.

This bit is set to indicate that a superimposed move is in progress. This can be caused by a Transition.

This bit is set to indicate that a superimposed move is in progress. This can be caused by a pressure/force transition.

This bit indicates that the feedback transducer on the primary input has no errors. This bit provides the instantaneous general status of the transducer, and is especially useful when implementing Custom Feedback. This bit is available in firmware 3.54.0 and newer.

The Transducer OK bit will be off if the transducer is experiencing any of the following:

• No Transducer

• Transducer Overflow

• Transducer Noise (only for position axes)

Notice that the Transducer OK bit is instantaneous. The No Transducer, Transducer Overflow, and Transducer Noise axis error bits do not necessarily provide the instantaneous state of the feedback as the Transducer OK status bit does. These three error bits will turn on only after the error has existed for three loop times, during which time the Input Estimated bit is on. In addition, they will latch on and remain on even if the underlying error has gone away.

This bit indicates that the feedback transducer on the secondary input has no errors. This bit provides the instantaneous general status of the transducer, and is especially useful when implementing Custom Feedback. This bit is available in firmware 3.54.0 and newer.

The Secondary Transducer OK bit will be off if the transducer is experiencing any of the following:

• Pressure/Force No Transducer

• Pressure/Force Transducer Overflow

Notice that the Secondary Transducer OK bit is instantaneous. The P/F No Transducer and P/F Transducer Overflow axis error bits do not necessarily provide the instantaneous state of the feedback as the Transducer OK status bit does. These three error bits will turn on only after the error has existed for three loop times, during which time the Input Estimated bit is on. In addition, they will latch on and remain on even if the underlying error has gone away.

The RMC sets the Command Acknowledge bit to match the Command Request bit of the last command. This bit is intended to be used for synchronizing a PLC program with the RMC. See the Command Acknowledge Bit topic for details.