MSR is a 16-bit status register, containing information about motion system status and some specific events like: control error condition, position wrap-around, limit switches and captures triggered by programmed transitions, etc.
TML Address: 0x0308
Contents. MSR information is structured as follows:
Bit 15 UPDATE. Update the motion mode
0 = |
No update |
1 = |
Update |
Bit 14 EVNRS. Event status
0 = |
Reset after update |
1 = |
Set of update |
Bit 13 AXISST. Axis status
0 = |
Axis Off |
1 = |
Axis On |
Bit 12 Reserved
Bit 11 EVNS. Events
0 = |
No event set, or programmed event not occurred yet |
1 = |
Last event reached |
Bit 10 CNTSGS. Contour segment
0 = |
Don’t update |
1 = |
Update |
Bit 9 MOTS. Motion status
0 = |
In motion |
1 = |
Motion complete |
Bit 8 PCAPS. Position capture
0 = |
Not triggered |
1 = |
Triggered |
Bit 7 LSWNS. Negative limit switch
0 = |
Not triggered |
1 = |
Triggered |
Bit 6 LSWPS. Positive limit switch
0 = |
Not triggered |
1 = |
Triggered |
Bit 5 WRPS. Position wrap around
0 = |
Not triggered |
1 = |
Triggered |
Bit 4 Reserved
Bit 3 CTRERS. Control error status
0 = |
Not triggered |
1 = |
Triggered |
Bit 2 SWPRS. Software protections status
0 = |
Not triggered |
1 = |
Triggered |
Bit 1 SCUPD. S-Curve update status
0 = |
S-curve updated successfully |
1 = |
S-curve update denied (UPD instruction received when motion was not complete) |
Bit 0 ENDINIT. Drive/motor initialization status
0 = |
Not performed |
1 = |
Performed |