GET STATE (0x95)

Code: 0x95
Description: Returns the module status and other information, if requested. The module can automatically update this status at regular intervals.
Parameters (master -> slave):

• None
  The module sends the data once. This means that the previously set cyclic sending of data can be disabled.
• Time (4 bytes)
  The module automatically transmits its status at the set intervals (in the configured unit system).
• Time (4 bytes) Mode (1 byte)
  The module automatically transmits its status at the set intervals (in the configured unit system).
  The parameter ,,Mode'' specifies the data that is to be sent in addition to the status:
  Bit 1 (0x01): position
  Bit 2 (0x02): velocity
  Bit 3 (0x04): current

Response (slave -> master): Optional data (depending on the code ,,Mode'') followed by the status (2 bytes), which is configured as follows:

Referenced	Bit 1	0x01
Moving	Bit 2	0x02
Program Mode	Bit 3	0x04
Warning	Bit 4	0x08
Error	Bit 5	0x10
Brake	Bit 6	0x20
Move End	Bit 7	0x40
Position Reached	Bit 8	0x80

• Bit 1: module is referenced
• Bit 2: module is moving
• Bit 3: module is in programming mode (internal processing program activated)
• Bit 4: a warning has been generated.
• Bit 5: an error occurred.
• Bit 6: brake applied
• Bit 7: motion terminated.
• Bit 8: target position reached.
• Bit 9-16 contain the error code.

Example 1:

	D-Len	Cmd	Param
M->S	0x06	0x95	0x00 0x00 0x80 0x3F 0x07	State info is to be sent cyclically each second. Position, velocity and current are to be sent too.
S->M (cyclically each second)	0x0F	0x95	0xD6 0xA3 0x70 0x41 0x56 0xC9 0x41 0x40 0x3C 0x41 0xEB 0x3E 0x03 0x00	Position: 0xD6..0x41, Velocity: 0x56..0x40, Current: 0x3C..0x3E; Module is in motion and referenced (0x03); No error (0x00)

Example 2:

	D-Len	Cmd	Param
M->S	0x01	0x95		Request state info once. Last requested parameters will be sent too.
S->M	0x0F	0x95	0x0x53 0x63 0xB7 0x41 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x61 0xD9	Position: 0x53..0x41, Velocity: 0x00..0x00, Current: 0x00..0x00; Module is referenced, no movement, brake is on (0x61); Emergency stop executed (0xD9)

Example 3:

	D-Len	Cmd	Param
M->S	0x06	0x95	0x00 0x00 0x00 0x00 0x01	Request state info once. Position is to be sent too.
S->M	0x07	0x95	0x00 0x00 0x00 0x00 0x20 0x00	Position: 0x00..0x00; Module is not referenced, brake is off (0x20); No error (0x00)

Note: If you wish to receive the position, velocity and current in a message with CAN, use the fragmentation protocol. zu verwenden. With Profibus, all information can be compiled into a Profibus message. The set mode is maintained, and needs therefore not to be reset with each message. When the module is switched on, mode is set to ,,0x07'', then all available state information is transmitted.

With Profibus, and if all parameters (position, velocity, current) are to be transmitted, only the low 8 bits of the status are displayed. They are positioned in byte 14, where the latest status is submitted in accordance with the Profibus requirements. Byte 15 contains the MsgCount, which overwrites the high 8 bits of the status word.

With Profibus, automated requests should be used with caution. Under certain circumstances, it might be more useful to poll the data, especially if the SYNC/FREEZE mechanism is used.

Status response from SRV

• Bit 1-2: reserved
• Bit 3: Status of the connection of the PC application "SRV-GUI'' via USB with the SRV sensor. (1 = connected, 0 = not connected)
• Bit 4-16: reserved

As long as the PC application "SRV-GUI'' (the configuration and user interface of the SRV) is connected via USB with the SRV sensor, no change of program (CAMAT CHANGE PROGRAM) can take place. See also ,,INFO GUI CONNECTED'' and ,,INFO GUI DISCONNECTED''.