Stat Function
Returns the execution status information of the controller.
Syntax
Stat(address)
Parameters
- address
- Specifies an address (integer between 0 and 2) indicating the controller status.
Return Values
Returns a 4 byte value that presents the status of the controller. Refer to table below.
Description
The Stat instruction returns information as shown in the table below:
| Address | Bit | Controller Status Indicated When Bit is On | |
|---|---|---|---|
| 0 | 0-15 | &H1 to &H8000 | Task (1~16) is being executed (Xqt) or in Halt State |
| 16 | &H10000 | Task(s) is being executed | |
| 17 | &H20000 | Pause condition | |
| 18 | &H40000 | Error Condition | |
| 19 | &H80000 | Teach mode | |
| 20 | &H100000 | Emergency Stop Condition | |
| 21 | &H200000 | Low Power Mode (Power Low) | |
| 22 | &H400000 | Safeguard Input is Closed | |
| 23 | &H800000 | Enable switch is on | |
| 24 | &H1000000 | Undefined | |
| 25 | &H2000000 | Undefined | |
| 26 | &H4000000 | Test mode | |
| 27 | &H8000000 | T2 mode | |
| 28-31 | Undefined | ||
| 1 | 0 | &H1 | Jump ... History of stopping above target coordinates with the Sense statement condition satisfied. (This log is erased when another Jump statement is executed). |
| 1 | &H2 | Go/Jump/Move.... History of stopping during motion with the Till statement condition satisfied. (This log is erased when another Go/Jump/Move...Till statement is executed | |
| 2 | &H4 | Undefined | |
| 3 | &H8 | Log of stop at intermediate travel position upon satisfaction of condition in Trap statement | |
| 4 | &H10 | Motor On mode | |
| 5 | &H20 | Current position is home position | |
| 6 | &H40 | Low power state | |
| 7 | &H80 | Undefined | |
| 8 | &H100 | 4th Joint motor is on | |
| 9 | &H200 | 3rd Joint motor is on | |
| 10 | &H400 | 2nd Joint motor is on | |
| 11 | &H800 | 1st Joint motor is on | |
| 12 | &H1000 | 6th Joint motor is on | |
| 13 | &H2000 | 5th Joint motor is on | |
| 14 | &H4000 | Axis T motor is on | |
| 15 | &H8000 | Axis S motor is on | |
| 16 | &H10000 | 7th Joint motor is on | |
| 17-31 | Undefined | ||
| 2 | 0-15 | &H1 to &H8000 | Task (17~32) is being executed (Xqt) or in Halt State |
See Also
EStopOn Function, TillOn Function, PauseOn Function, SafetyOn Function
Stat Function Example
Function StatDemo
Integer rbt1_sts
rbt1_sts = RShift((Stat(0) And &H070000), 16)
Select TRUE
Case (rbt1_sts And &H01) = 1
Print "Tasks are running"
Case (rbt1_sts And &H02) = 2
Print "Pause Output is ON"
Case (rbt1_sts And &H04) = 4
Print "Error Output is ON"
Send
Fend