Chapter 15 Motion Status API | PCI-DMC-A01 / PCI-DMC-B01
Revised March, 2012 15-3
15.2 _DMC_01_motion_status FORMAT
I16 PASCAL _DMC_01_motion_status (U16 CardNo, U16 NodeID, U16 SlotID,
U32* MC_status)
Purpose
Returns current motion status of the Master Card.
Parameters
Name Data Type Unit Description
CardNo U16 Number Unit CardNo is between 0~15
NodeID U16 Number Unit Node ID
SlotID U16 Number Unit Slot ID
MoSt U32* Selection
Motion status (bit0~bit15)
Byte Tag Description
0 ~ 3 Mode0 ~ Mode3 Enable selection
mode
4 DI3 DI3 (SLD) status
map
5 WR Alarm message
6 DR Data error
message
7 TG Trigger mode bit
8 PWRON Motor excitation
enable bit
9 DriverErr Servo error bit
10 Target Target reached bit
11 N/A Reserved, default
value is 0
12 MDS0 Mode specific
13 MDS1 Mode specific
14 PEL Positive limit bit
15 MEL Negative limit bit