Controller Status Functions

The Automation1 controller allows for the retrieval of various status items at runtime. These items provide useful information about the current state of the controller. Many of the status items are dependent on the current units of the controller. Refer to UnitsName Parameter for more information.

Status items can be retrieved from these areas of the controller:

  • Axis - configures the behavior of axes and motors
  • Task - configures the behavior of tasks and program execution
  • System - configures global behaviors of the controller

Each status item function has an overload that contains an additional data argument. For some data items, this argument is used to provide context. See the data items in the tables that follow for more information.

While the motion engine of the controller runs at a rate of 1KHz, it is possible to collect data at an increased rate by using the Fast functions. 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.

Axis

function StatusGetAxisItem($axis as axis, $statusItem as AxisStatusItem) as real

Gets the specified status item value from the specified axis.

Arguments

$axis  The axis from which to retrieve the status item value.

$statusItem  The status item to retrieve.

Returns

The value of the specified axis status item.

function StatusGetAxisItem($axis as axis, $statusItem as AxisStatusItem, $additionalData as integer) as real

Gets the specified status item value from the specified axis.

Arguments

$axis  The axis from which to retrieve the status item value.

$statusItem  The status item to retrieve.

$additionalData  Additional data for the specified status item. This argument is required by some status items.

Returns

The value of the specified axis status item.

function StatusGetAxisItemFast($axis as axis, $statusItem as AxisStatusItem, $additionalData as integer, $sampleRate as integer, ref $values[] as real)

Gets the specified status item value from the specified axis at a rate that is faster than 1 kHz.

Arguments

$axis  The axis from which to retrieve the status item value.

$statusItem  The status item to retrieve.

$additionalData  Additional data for the specified status item. This argument is required by some status items. If additional data is not required, specify a value of 0 for this argument.

$sampleRate  The number of samples to collect. This must be 1, 10, 20, 50, or 100.

ref $values  An array variable in which to retrieve the data. The length of the variable must be sufficient to store the number of samples that are specified by the $sampleRate argument.

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

How to Use Axis Status Functions

Program Example: Determine if an Axis is Enabled

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

Example: Determine if motion is done being commanded on an axis

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

Read the Position Command of an axis

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

Example: Read the Position Feedback of an axis

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

Example: Read the Program Position of an axis

// Retrieve the Program Position on axis X.
var $programPosition
$programPosition = StatusGetAxisItem(X, AxisStatusItem.ProgramPosition)

Task

function StatusGetTaskItem($taskIndex as integer, $statusItem as TaskStatusItem) as real

Gets the specified status item value from the specified task.

Arguments

$taskIndex  The task from which to retrieve the status item value.

$statusItem  The status item to retrieve.

Returns

The value of the specified task status item.

function StatusGetTaskItem($taskIndex as integer, $statusItem as TaskStatusItem, $additionalData as integer) as real

Gets the specified status item value from the specified task.

Arguments

$taskIndex  The task from which to retrieve the status item value.

$statusItem  The status item to retrieve.

$additionalData  Additional data for the specified status item. This argument is required by some status items.

Returns

The value of the specified task status item.

function StatusGetTaskItemFast($taskIndex as integer, $statusItem as TaskStatusItem, $additionalData as integer, $sampleRate as integer, ref $values[] as real)

Gets the specified status item value from the specified task at a rate that is faster than 1 kHz.

Arguments

$taskIndex  The task from which to retrieve the status item value.

$statusItem  The status item to retrieve.

$additionalData  Additional data for the specified status item. This argument is required by some status items. If additional data is not required, specify a value of 0 for this argument.

$sampleRate  The number of samples to collect. This must be 1, 10, 20, 50, or 100.

ref $values  An array variable in which to retrieve the data. The length of the variable must be sufficient to store the number of samples that are specified by the $sampleRate argument.

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

How to Use Task Status Functions

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

Example: Read the Task State of an AeroScript task

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

Example: Read the Program Line Number of an AeroScript program

// Read the Program Line Number of the currently running task.
var $programLineNumber
$programLineNumber = StatusGetTaskItem(TaskGetIndex(), TaskStatusItem.ProgramLineNumber)

System

function StatusGetSystemItem($statusItem as SystemStatusItem) as real

Gets the specified system status item value.

Arguments

$statusItem  The status item to retrieve.

Returns

The value of the specified system status item.

function StatusGetSystemItem($statusItem as SystemStatusItem, $additionalData as integer) as real

Gets the specified system status item value.

Arguments

$statusItem  The status item to retrieve.

$additionalData  Additional data for the specified status item. This argument is required by some status items.

Returns

The value of the specified system status item.

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
   EtherNetIpAdapterEnabled = 474
   EtherNetIpAdapterConnected = 475
   EtherNetIpAdapterError = 476
   EtherNetIpAdapterInputIntegerSize = 477
   EtherNetIpAdapterInputFloatSize = 478
   EtherNetIpAdapterOutputIntegerSize = 479
   EtherNetIpAdapterOutputFloatSize = 480
end

How to Use System Status Functions

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

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)