◆ RSIFirmwareStatus

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Description:: Each value is a 32-bit bitmask (not a bit index) representing a single status condition in the RMP firmware. Read the status word with AddressGet using RSIAxisAddressTypeSTATUS.

Which status address to use:

RSIAxisAddressTypeSTATUS — Per-axis status. All RSIFirmwareStatus bits apply. Use to check single-axis motion state, errors, and events.
RSIAxisAddressTypeMOTION_STATUS — Motion supervisor status. Same bit definitions, but reflects the coordinated multi-axis motion group. Use to check if group motion is done or in error. RSIMultiAxisAddressTypeMOTION_STATUS is the MultiAxis equivalent.
RSIAxisAddressTypeMOTOR_DATA_STATUS — Motor dedicated limit status. Different bit layout (9-bit motor limit flags: amp fault, encoder fault, error/torque/position limits). RSIFirmwareStatus values do NOT apply. Use to determine which motor limit fired.

Latching:: Bits marked "Latched" persist across firmware cycles until explicitly cleared (e.g., by Axis::ClearFaults or resuming motion). Non-latched bits are re-evaluated every cycle.

Enumerator
RSIFirmwareStatusIN_COARSE_POSITION	Bit 0 (0x01). Position error is within the coarse-position tolerance.
RSIFirmwareStatusAT_TARGET	Bit 1 (0x02). Latched. Command position has reached the profile target.
RSIFirmwareStatusAT_VELOCITY	Bit 2 (0x04). Command velocity has reached the requested cruise velocity.
RSIFirmwareStatusIN_FINE_POSITION	Bit 3 (0x08). Position error is within the fine (settling) tolerance. Same bit as SETTLED.
RSIFirmwareStatusSETTLED	Bit 3 (0x08). Alias for IN_FINE_POSITION. Axis has settled within fine tolerance.
RSIFirmwareStatusDONE	Bit 4 (0x10). Latched. Motion complete: profile finished (AT_TARGET) and settled (IN_FINE_POSITION).
RSIFirmwareStatusMOTION_START	Bit 5 (0x20). Latched. A new motion profile has started executing.
RSIFirmwareStatusMOTION_MODIFY	Bit 6 (0x40). Latched. A running motion profile was modified (e.g., new target appended).
RSIFirmwareStatusPS_FAULT	Bit 7 (0x80). Program Sequencer fault. N/A.
RSIFirmwareStatusMS_FAULT	Bit 8 (0x100). Motion Supervisor fault.
RSIFirmwareStatusOUT_OF_FRAMES	Bit 9 (0x200). Latched. Motion frame buffer underrun — host did not supply frames fast enough.
RSIFirmwareStatusFRAME	Bit 10 (0x400). A motion frame has been consumed (loaded into execution).
RSIFirmwareStatusRESET	Bit 11 (0x800). Axis has been reset (faults cleared).
RSIFirmwareStatusRESUME	Bit 12 (0x1000). Motion resumed from a paused or stopped state.
RSIFirmwareStatusPAUSE	Bit 13 (0x2000). Motion is paused — ramping feedrate to zero velocity, resumable.
RSIFirmwareStatusSTOP	Bit 14 (0x4000). Latched. Motion has been stopped. Must be explicitly resumed or cleared.
RSIFirmwareStatusESTOP	Bit 15 (0x8000). Latched. Emergency stop — ramping feedrate to zero on the E-Stop profile.
RSIFirmwareStatusESTOP_ABORT	Bit 16 (0x10000). Latched. E-Stop followed by command position set to actual position.
RSIFirmwareStatusESTOP_CMD_EQ_ACT	Bit 17 (0x20000). Latched. E-Stop with immediate command-equals-actual snap.
RSIFirmwareStatusTRIGGERED_MODIFY_ESTOP	Bit 18 (0x40000). Latched. A triggered modify resulted in an E-Stop.
RSIFirmwareStatusTRIGGERED_MODIFY	Bit 19 (0x80000). Latched. A triggered modify action has fired (motion modified by event).
RSIFirmwareStatusABORT	Bit 20 (0x100000). Latched. Motion aborted — command position immediately set to actual.
RSIFirmwareStatusERROR_STATE	Bit 21 (0x200000). Latched. Derived — automatically set when any error bit (15–18, 20) is active.
RSIFirmwareStatusDISABLED	Bit 22 (0x400000). Amp enable output is OFF — the axis is disabled.
RSIFirmwareStatusHOST	Bit 23 (0x800000). Latched. The current stop/error was initiated by the host application (user), not the firmware. Cleared when motion resumes.
RSIFirmwareStatusREC_IDLE	Bit 24 (0x1000000). Data recorder is idle (not recording).
RSIFirmwareStatusREC_HIGH	Bit 25 (0x2000000). Data recorder buffer has reached the high-water mark.
RSIFirmwareStatusREC_FULL	Bit 26 (0x4000000). Data recorder buffer is completely full.
RSIFirmwareStatusREC_RUNNING	Bit 27 (0x8000000). Data recorder is actively recording samples.
RSIFirmwareStatusCAM	Bit 28 (0x10000000). Electronic cam error — master axis fault propagated to this follower.
RSIFirmwareStatusEXTERNAL	Bit 29 (0x20000000). External event — a User Message command executed in the Program Sequencer. N/A.
RSIFirmwareStatusTRIGGERED_MODIFY_ESTOP_ABORT	Bit 30 (0x40000000). Latched. A triggered modify resulted in an E-Stop with abort.
RSIFirmwareStatusMOTOR_LIMIT	Bit 31 (0x80000000). Latched. A motor limit condition fired (amp fault, encoder fault, HW/SW limit, error limit, or torque limit). Read RSIAxisAddressTypeMOTOR_DATA_STATUS to identify which.

Definition at line 529 of file rsienums.h.