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i-Motor Status Byte and Word Breakdown

For troubleshooting or reacting to an error condition, there are two commands that give an immense amount of information about the condition of your i-Motor. These two commands are listed below.

PS = Print Status Byte
PW = Print Status Word

Below is a breakdown of each status command. Note, you can query the individual bits as well, but this is not as efficient.



STATUS BYTE (PS)
Bit Name Description Bit # Value Notes
Fo Motor ON/OFF Status 7 128 Real Time
Fh Excessive Temperature Occurred 6 64 Real Time
Fe Excessive Position Error Occurred 5 32 Historical, Reset by "G"
Fw Wraparound Occurred 4 16 Historical, Reset by "G", "TM" or "Zw"
Fi Index Report Available 3 8 Historical, Reset by "PI" or using the "I" operand
Fl Historical Left Limit 2 4 Historical, Reset by "Zl", "ZS", "PS" or "PW"
Fr Historical Right Limit 1 2 Historical, Reset by "Zr", "ZS", "PS" or "PW"
Ft Trajectory in Progress 0 1 Real Time


STATUS WORD (PW)
Bit Name Description Bit # Value Notes
Fk Over Current State Occurred 15 32768 Real Time
Fa Over Current State Occurred 14 16384 Historical, Reset by "Za" or "ZS"
Fs Syntax Error Occurred 13 8192 Historical, Reset by "Zs" or "ZS"
Fu User Array Index Range Error Occurred 12 4096 Historical, Reset by "Zu" or "ZS"
Fd User Math Overflow Occurred 11 2048 Historical, Reset by "Zd" or "ZS"
Fm Left Limit Active 10 1024 Real Time
Fp Right Limit Active 9 512 Real Time
Fx Hardware Index Input Level 8 256 Real Time
Fo Motor ON/OFF Status 7 128 Real Time
Fh Excessive Temperature Occurred 6 64 Real Time
Fe Excessive Position Error Occurred 5 32 Historical, Reset by "G"
Fw Wraparound Occurred 4 16 Historical, Reset by "G", "TM" or "Zw"
Fi Index Report Available 3 8 Historical, Reset by "PI" or using the "I" operand
Fl Historical Left Limit 2 4 Historical, Reset by "Zl", "ZS", "PS" or "PW"
Fr Historical Right Limit 1 2 Historical, Reset by "Zr", "ZS", "PS" or "PW"
Ft Trajectory in Progress 0 1 Real Time


COMMUNICATION STATUS BITS
Bit Name Description Notes
Fb Parity Error Occurred Historical, Reset by "Zb" or "ZS"
Fc Communication Overflow Occurred Historical, Reset by "Zc" or "ZS"
Ff Communications Framing Error Occurred Historical, Reset by "Zf" or "ZS"