Function Library 149
6.11 Motion Status
@ Name
_8102_motion_done – Return the motion status
@ Description
_8102_motion_done:
Return the motion status of the 8102. The return code show as
below:
0 Normal stopped condition
1 Waiting for DR
2 Waiting for CSTA input
3 Waiting for an internal synchronous signal
4 Waiting for another axis to stop
5 Waiting for a completion of ERC timer
6 Waiting for a completion of direction change timer
7 Correcting backlash
8 Wait PA/PB
9 At FA speed
10 At FL Speed
11 Accelerating
12 At FH Speed
13 Decelerating
14 Wait INP
15 Others(Controlling Start)
16 SALM
17 SPEL
18 SMEL
19 SEMG
20 SSTP
21 SERC
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