Get Controller Status

Use Status to get information about what the controller is doing at the current moment in time. Status provides useful information about the current state of the controller. The pieces of information that you collect are known as status items. Status can have variable latency when you retrieve it.

You can get Status by using the concepts that follow.

• Controller Status Functions

• Automation1 Studio

• Automation1 MachineApps

• Automation1 Status Utility

• Automation1 Console

• All Automation1 APIs

Many of the status items are dependent on the current units of the controller. Refer to the SetupTaskTimeUnits() function, SetupTaskDistanceUnits() function, and the UnitsName Parameter for more information.

You can get status items from these parts of the controller:

• Axis - gets information about the behavior of axes and motors

• Task - gets information about the behavior of tasks and program execution

• System - gets information about global behaviors of the controller

Controller Status Functions

Each status item function has an overload that has an additional data argument. For some data items, this argument is used for context.

While the motion engine of the controller runs at a rate of 1 kHz, you can collect data faster by using the fast functions (StatusGetAxisItemFast() and StatusGetTaskItemFast()). These functions return an array of values that are proportional to the supplied sample rate. To see the supported motion rates, refer to Motion Functions.

Get Axis Status

Use the functions that follow to get axis status items.

enum AxisStatusItem

enum AxisStatusItem    PositionFeedback = 0    PositionCommand = 1    PositionError = 2    VelocityFeedback = 3    VelocityCommand = 4    VelocityError = 5    AccelerationCommand = 6    CurrentFeedback = 7    CurrentCommand = 8    CurrentError = 9    AnalogInput0 = 10    AnalogInput1 = 11    PositionCommandRaw = 12    VelocityCommandRaw = 13    AuxiliaryFeedback = 14    DigitalInput = 15    DigitalOutput = 16    WorkOffsetValue = 18    AnalogInput2 = 23    AnalogInput3 = 24    AnalogOutput0 = 31    AnalogOutput1 = 32    AnalogOutput2 = 33    AnalogOutput3 = 34    PsoStatus = 38    CoordinatedPositionTarget = 41    DriveStatus = 42    AxisStatus = 43    AxisFault = 44    AccelerationCommandRaw = 45    PositionCalibrationAll = 50    PositionFeedbackRollover = 63    PositionCommandRollover = 64    VelocityFeedbackAverage = 65    CurrentFeedbackAverage = 66    AxisParameter = 68    Backlash = 72    HomeState = 73    PositionCalibration2D = 74    NormalcyDebug = 75    TotalMoveTime = 76    PositionFeedbackDrive = 77    JerkCommandRaw = 78    ProgramPositionCommand = 79    PositionOffset = 80    PositionCommandRawBackwardsDiff = 82    VelocityCommandRawBackwardsDiffDelta = 83    PositionCommandDrive = 84    DriveStatusActual = 85    WorkOffsetIndex = 88    ProgramPositionFeedback = 89    JogTrajectoryStatus = 94    PingTest = 95    AccelerationTime = 109    DecelerationTime = 110    AccelerationRate = 111    DecelerationRate = 112    AccelerationType = 113    DecelerationType = 114    AccelerationMode = 115    DecelerationMode = 116    ProgramPosition = 124    SpeedTarget = 128    PositionCommandPacket = 131    DriveSmcMotionState = 132    PositionCommandRawCal = 140    VelocityCommandRawCal = 141    VelocityCommandDrive = 142    AccelerationCommandDrive = 143    GalvoLaserOutputRaw = 144    DriveInterfacePacketInt32 = 147    DriveInterfacePacketInt16 = 148    DriveInterfacePacketInt8 = 149    DriveInterfacePacketDouble = 150    DriveInterfacePacketFloat = 151    DriveInterfaceCommandCode = 152    AccelerationFeedback = 153    AccelerationCommandRawCal = 154    PositionCalibrationAllDrive = 155    BacklashTarget = 156    DriveMotionRate = 158    DriveMotionDelay = 159    CalibrationAdjustmentValue = 160    ServoLoopFeedforwardControlEffortRaw = 162    DriveInterfacePacketInfoBitValue = 164    AccelerationError = 165    SuppressedFaults = 167    DriveInterfacePacketStreamingData = 168    PositionCommandRawUnfiltered = 169    TransitionOffsetErrors = 170    FreezeVelocityCommand = 179    FreezeVelocityFeedback = 180    InternalPositionOffsets = 181    StatusHighLevelOffsetsLastMsec = 182    ProgramVelocityCommand = 183    ProgramVelocityFeedback = 184    DriveMotionDelayLive = 185    DriveCommunicationDelay = 186    DriveCommunicationDelayLive = 187    DriveInterfacePacketResponseInt32 = 189    DriveInterfacePacketResponseInt16 = 190    DriveInterfacePacketResponseInt8 = 191    DriveInterfacePacketResponseDouble = 192    DriveInterfacePacketResponseFloat = 193    DriveInterfacePacketBit = 194    DriveInterfacePacketResponseBit = 195    SpeedTargetActual = 196    CoordinatedDistanceRemaining = 199    AmplifierPeakCurrent = 211    ServoUpdateRate = 220    SafeZoneState = 230    PositionErrorGalvo = 235    MoveReferencePosition = 237    MoveReferenceOffsetCutterRadius = 250    MoveReferenceOffsetCornerRounding = 251    MoveReferenceOffsetTotal = 252    PiezoVoltageCommand = 262    PiezoVoltageFeedback = 263    DistanceLog = 264    MaximumVoltage = 274    CommandOutputType = 275    GalvoLaserOutputRawAdvance = 296    GalvoLaserOnDelay = 297    GalvoLaserOffDelay = 298    CalibrationAdjustmentState = 301    AccuracyCorrectionStartingPosition = 302    AccuracyCorrectionEndingPosition = 303    DriveCommandsDelayed = 309    DriveCommandsLost = 310    StoStatus = 327    DriveAssert = 336    PrimaryFeedback = 366    AccelerationSCurvePercentage = 371    DecelerationSCurvePercentage = 372    DriveArraySize = 388    GantryMarkerDifference = 390    PrimaryFeedbackStatus = 392    HomeTargetPosition = 398    GantryRealignmentMoveTargetPosition = 399    GantryDriveControlRealignmentState = 400    DriveInterfacePositionCommandPhysical = 434    DriveControlReason = 435    SyncPortAPosition = 444    SyncPortBPosition = 445    AnalogOutput4 = 467    AnalogOutput5 = 468    MoveReferenceOffsetCutterOffset = 471 end

Use the StatusGetAxisItemFast() function to get status at a rate that is faster than 1 kHz. Some status items are not available at a faster rate. You can only get the status items that follow at a faster rate.

• Acceleration Command Raw
• Backlash
• Galvo Laser Output Raw
• Jerk Command Raw
• Position Calibration 2D
• Position Calibration All
• Position Command Raw
• Velocity Command Raw

Use Axis Status Functions

The examples that follow show you how to retrieve some axis status items.

Program Example: Determine if an Axis is Enabled

// Determine if the Enabled bit of the DriveStatus item is set on axis X.
var $isEnabled as real
$isEnabled = (StatusGetAxisItem(X, AxisStatusItem.DriveStatus, DriveStatus.Enabled) == DriveStatus.Enabled)	

Program Example: Determine if an Axis is Homed

// Determine if the Homed bit of the AxisStatus item is set on axis X.
var $isHomed as real
$isHomed = (StatusGetAxisItem(X, AxisStatusItem.AxisStatus, AxisStatus.Homed) == AxisStatus.Homed)	

Program Example: Determine if Motion Commanded on an Axis is Complete

// Determine if the MotionDone bit of the AxisStatus item is set on axis X.
var $isMotionDone as real
$isMotionDone = (StatusGetAxisItem(X, AxisStatusItem.AxisStatus, AxisStatus.MotionDone) == AxisStatus.MotionDone)

Program Example: Read the Position Command of an Axis

// Retrieve the Position Command on axis X.
var $positionCommand as real
$positionCommand = StatusGetAxisItem(X, AxisStatusItem.PositionCommand)

Program Example: Read the Position Feedback of an Axis

// Retrieve the Position Feedback on axis X.
var $positionFeedback as real
$positionFeedback = StatusGetAxisItem(X, AxisStatusItem.PositionFeedback)

Program Example: Read the Position Command Raw of an Axis at 20 kHz

// Retrieve the Position Command Raw at 20 kHz on axis X.
var $positions[20] as real
StatusGetAxisItemFast(X, AxisStatusItem.PositionCommandRaw, 0, 20, $positions)

Get Task Status

Use the functions that follow to get task status items.

enum TaskStatusItem

enum TaskStatusItem    ProgramLineNumber = 17    CoordinatedFlags = 40    CoordinatedArcStartAngle = 53    CoordinatedArcEndAngle = 54    CoordinatedArcRadius = 55    CoordinatedArcRadiusError = 56    CoordinatedPositionCommand = 57    CoordinatedSpeedCommand = 58    CoordinatedAccelerationCommand = 59    CoordinatedTotalDistance = 60    CoordinatedPercentDone = 61    CoordinatedPositionCommandBackwardsDiff = 62    TaskParameter = 69    TaskError = 70    TaskWarning = 71    CoordinatedSpeedTargetActual = 86    DependentCoordinatedSpeedTargetActual = 87    TaskStatus0 = 90    TaskStatus1 = 91    TaskStatus2 = 92    SpindleSpeedTarget = 93    CoordinateSystem1I = 96    CoordinateSystem1J = 97    CoordinateSystem1K = 98    CoordinateSystem1Plane = 99    Mfo = 101    CoordinatedSpeedTarget = 102    DependentCoordinatedSpeedTarget = 103    CoordinatedAccelerationRate = 104    CoordinatedDecelerationRate = 105    CoordinatedAccelerationTime = 106    CoordinatedDecelerationTime = 107    TaskMode = 108    TaskState = 117    TaskStateInternal = 118    ExecutionMode = 121    EnableAlignmentAxes = 127    CoordinatedGalvoLaserOutput = 133    CoordinatedMotionRate = 145    CoordinatedTaskCommand = 146    EnableState = 166    LookaheadMovesExamined = 200    ProfileControlMask = 231    CoordinatedArcRadiusReciprocal = 253    MotionEngineStage = 254    CoordinatedTimeScale = 256    CoordinatedTimeScaleDerivative = 257    IfovSpeedScale = 266    IfovSpeedScaleAverage = 267    IfovGenerationFrameCounter = 268    IfovGenerationTimeOriginal = 269    IfovGenerationTimeModified = 270    IfovCoordinatedPositionCommand = 271    IfovCoordinatedSpeedCommand = 272    IfovCenterPointH = 276    IfovCenterPointV = 277    IfovTrajectoryCount = 278    IfovTrajectoryIndex = 279    IfovAttemptCode = 280    IfovGenerationFrameIndex = 281    IfovMaximumVelocity = 282    IfovIdealVelocity = 283    TaskInternalDebug = 284    IfovCoordinatedAccelerationCommand = 285    IfovFovPositionH = 286    IfovFovPositionV = 287    IfovFovDimensionH = 288    IfovFovDimensionV = 289    MotionBufferElements = 311    MotionBufferMoves = 312    MotionLineNumber = 313    MotionBufferRetraceMoves = 314    MotionBufferRetraceElements = 315    MotionBufferIndex = 316    MotionBufferIndexLookahead = 317    MotionBufferProcessingBlocked = 318    ActiveMoveValid = 319    TaskExecutionLines = 320    SchedulerTaskHolds = 321    SchedulerProgramLoopRuns = 322    SchedulerTaskBlocked = 323    CriticalSectionsActive = 324    AxesSlowdownReason = 331    TaskExecutionTime = 333    TaskExecutionTimeMaximum = 334    TaskExecutionLinesMaximum = 335    LookaheadDecelReason = 338    LookaheadDecelMoves = 339    LookaheadDecelDistance = 340    ProgramCounter = 341    StackPointer = 342    FramePointer = 343    StringStackPointer = 344    ProgramLineNumberSourceFileId = 349    MotionLineNumberSourceFileId = 350    ProgramLineNumberSourcePathId = 351    MotionLineNumberSourcePathId = 352    StringArgumentStackPointer = 354    CoordinatedAccelerationSCurvePercentage = 369    CoordinatedDecelerationSCurvePercentage = 370    DependentCoordinatedAccelerationRate = 373    DependentCoordinatedDecelerationRate = 374    CriticalSectionTimeout = 375    CommandQueueCapacity = 421    CommandQueueUnexecutedCount = 422    CommandQueueTimesEmptied = 423    CommandQueueExecutedCount = 424    CommandQueueLineNumber = 452    TaskReal = 469    TaskInteger = 470 end

Use the StatusGetTaskItemFast() function to get status at a rate that is faster than 1 kHz. Some status items are not available at a faster rate. You can only get the status items that follow at a faster rate.

• Coordinated Acceleration Command
• Coordinated Percent Done
• Coordinated Position Command
• Coordinated Speed Command
• Coordinated Total Distance
• Ifov Speed Scale

Use Task Status Functions

The examples that follow show you how to retrieve some task status items.

Program Example: Read the Task State of an AeroScript Task

// Read the Task State of Task 2. See the TaskState enum for more information.
var $taskState as real
$taskState = StatusGetTaskItem(2, TaskStatusItem.TaskState)

Program Example: Read the Program Line Number of an AeroScript Program

var $programLineNumber as real
$programLineNumber = StatusGetTaskItem(TaskGetIndex(), TaskStatusItem.ProgramLineNumber)

Program Example: Read the Coordinated Position Command of an Axis at 20 kHz

// Retrieve the Coordinated Position Command at 20 kHz on Task 2 on the axis whose index is 1.
var $speeds[20] as real
StatusGetTaskItemFast(2, TaskStatusItem.CoordinatedPositionCommand, 1, 20, $speeds)

Get System Status

Use the functions that follow to get system status items.

enum SystemStatusItem

enum SystemStatusItem    VirtualBinaryInput = 46    VirtualBinaryOutput = 47    VirtualRegisterInput = 48    VirtualRegisterOutput = 49    Timer = 51    TimerPerformance = 52    GlobalReal = 67    CommunicationRealTimeErrors = 81    LibraryCommand = 119    DataCollectionSampleTime = 120    DataCollectionSampleIndex = 129    ModbusClientConnected = 134    ModbusServerConnected = 135    ModbusClientError = 136    ModbusServerError = 137    StopWatchTimer = 157    ScopetrigId = 163    EstimatedProcessorUsage = 177    DataCollectionStatus = 188    SignalLogState = 198    SafeZoneViolationMask = 207    SafeZoneActiveMask = 229    ModbusClientInputWords = 240    ModbusClientOutputWords = 241    ModbusClientInputBits = 242    ModbusClientOutputBits = 243    ModbusClientOutputBitsStatus = 244    ModbusClientOutputWordsStatus = 245    ModbusServerInputWords = 246    ModbusServerOutputWords = 247    ModbusServerInputBits = 248    ModbusServerOutputBits = 249    SystemParameter = 265    ThermoCompSensorTemperature = 305    ThermoCompControllingTemperature = 306    ThermoCompCompensatingTemperature = 307    ThermoCompStatus = 308    GlobalInteger = 345    AliveAxesMask = 348    SignalLogPointsStored = 377    ControllerInitializationWarning = 379    StopWatchTimerMin = 416    StopWatchTimerMax = 417    StopWatchTimerAvg = 418    EthercatEnabled = 428    EthercatError = 429    EthercatTxPdo = 430    EthercatTxPdoSize = 431    EthercatRxPdo = 432    EthercatRxPdoSize = 433    EthercatState = 437    ModbusClientEnabled = 438    ModbusServerEnabled = 439    HyperWireExternalSynchronizationActive = 440    HyperWireExternalSynchronizationFrequency = 441    HyperWireExternalSynchronizationLagging = 442    HyperWireExternalSynchronizationAdjustmentNanoseconds = 443    CallbackSlotProcessingState = 453    ControllerAssertCount = 457    VirtualBinaryInputBit = 472    VirtualBinaryOutputBit = 473 end

Use System Status Functions

The example that follows shows you how to retrieve a system status item.

Program Example: Get the Value of a Timer

// Read the value of Timer 0 using a system status item instead of TimerRead().
var $timer as real
$timer = StatusGetSystemItem(SystemStatusItem.Timer, 0)

Other Ways to Get Controller Status

You can use the different modules that follow in Automation1 Studio and Automation1 MachineApps to get controller status:

• Axis Dashboard
• Buttons & Indicators
• Message Log Viewer
• Program Variables
• Task Status
• Variables & I/O

You can get status by using the Automation1 Status Utility, Automation1 Console, and all Automation1 APIs.

You can write an AeroScript program that collects information from the controller and then sends the information over a socket. Refer to the example that follows.

Program Example: Collect Status and Send the Information over a Socket

var $server as handle
var $client as handle

$server = SocketTcpServerCreate(8080)
$client = SocketTcpServerAccept($server)

while true
     var $command as string
     var $response as string

     $command = SocketReadString($client, "\n")
     if StringEquals($command, "position")
          $response = RealToString(StatusGetAxisItem(X, AxisStatusItem.PositionCommand))
     elseif StringEquals($command, "velocity")
          $response = RealToString(StatusGetAxisItem(X, AxisStatusItem.VelocityCommand))
     elseif StringEquals($command, "acceleration")
          $response = RealToString(StatusGetAxisItem(X, AxisStatusItem.AccelerationCommand))
     else
          $response = "Unknown command."
     end

     SocketWriteString($client, $response)
end