This service allows one to read the status words associated with the axis control module or with the different channels explicitly.
This instruction may be applied to all types of IODDT that can be associated with the TSX CSY 84 or TSX CSY 164 module. For an independent axis, we will take the example of a variable called Serco_Channel of type T_CSY_IND.
It is also possible to apply this instruction to a TSX CSY 84 or TSX CSY 164 module. In this case, it has to be applied to an IODDT of type T_CSY_CMD. Let us use the example of the variable called Sercos_module.
Syntax of the READ_STS (module) instruction
READ_STS (Sercos_Module): reading of general diagnostics information from the module associated with the Serco_Module IODDT.
Syntax of the READ_STS (channel) instruction
READ_STS (Sercos_Channel): reading of general diagnostics information from the channel associated with the Sercos_Channel IODDT.
The 2 following bits of the IODDT may be used to monitor the exchanges of status words between the processor and the module:
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Standard symbol
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Meaning
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Bit
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STS_IN_PROGR
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This bit is set at 1 when the reading is in process. It is reset to 0 when the exchange has been completed.
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%MWr.m.c.0.0
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STS_ERR
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This bit provides the exchange report. It is set to 1 in the case of fault.
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%MWr.m.c.1.0
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