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" |
