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PM94P01C 55

Programming

2.12 System Status Register (DSTATUS register)

System Status Register, (DSTATUS), is a Read Only register. Its bits indicate the various states of the PositionServo’s

subsystems as listed in Table 17. Some of the ﬂags are available as System Flag Variables and summarized in

Table13.

Table 17: DSTATUS Register

Bit in register Description

0 Set when drive enabled

1 Set if DSP subsystem at any fault

2 Set if drive has a valid program

3 Set if byte-code or system or DSP at any fault

4 Set if drive has a valid source code

5 Set if motion completed and target position is within speciﬁed limits

6 Set when scope is triggered and data collected

7 Set if motion stack is full

8 Set if motion stack is empty

9 Set if byte-code halted

10 Set if byte-code is running

11 Set if byte-code is set to run in step mode

12 Set if byte-code is reached the end of program

13 Set if current limit is reached

14 Set if byte-code at fault

15 Set if no valid motor selected

16 Set if byte-code at arithmetic fault

17 Set if byte-code at user fault

18 Set if DSP initialization completed

19 Set if registration has been triggered

20 Set if registration variable was updated from DSP after last trigger

21 Set if motion module at fault

22 Set if motion suspended

23 Set if program requested to suspend motion

24 Set if system waits completion of motion

25 Set if motion command completed and motion Queue is empty

26 Set if byte-code task requested reset

27 If set interface control is disabled. This ﬂag is set/clear by ICONTROL ON/OFF statement.

28 Set if positive limit switch reached

29 Set if negative limit switch reached

Events disabled. All events disabled when this ﬂag is set. After executing EVENTS ON all events

previously enabled by EVENT EventName ON statements become enabled again

PositionServo variable #83 provides Extended Status Bits, the encoding of which is listed in Table 18.

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