ADLINK AMP-208C - Manual (Page 137)

Motion Control Theory 123
AMP-204C / AMP-208C
4.8.1 Motion Status
Use following API functions to read motion status of each axes:
I32 APS_motion_status ();
Motion status data of individual axis is combined in return
paramter I32 (32 bit integer). See table below for motion status
and meaning represented by each bit:
Table below describes meaning of motion status:
Bit No. 7 6 5 4 3 2 1 0
Status HMV MDN DIR DEC ACC VM CSTP
Bit No. 15 14 13 12 11 10 9 8
Status JOG PTB WAIT
Bit No. 23 22 21 20 19 18 17 16
Status POSTD PRED BLD ASTP
Bit No. 31 30 29 28 27 26 25 24
Status GER
Bit No. Define Description
0 CSTP End of single motion command
1 VM At maximum speed
2 ACC: Accelerating
3 DEC: Decelerating
4 DIR: Motion direction; 1: Positive and 0: Negative
5 MDN End of motion command
6 HMV Executing homing movement
7~9 -- (Reserved)
10 WAIT Waiting for motion trigger
11 PTB Executing PTB movement
12~14 -- (Reserved)