Behavior of RSIFirmwareStatusAT_VELOCITY for velocity 0.0

RapidCode API
1

Does bit 2 of RSIAxisAddressTypeMOTION_STATUS (RSIFirmwareStatusAT_VELOCITY) behave differently if the target velocity is 0 vs. any other value?

In my testing, it seems to go active as expected when the velocity command settles in all cases except when the target velocity is 0. It remains high until another velocity command is issued (until velocity settles again). However, when target velocity is 0, it appears to go high for an instant (~5ms) and then return low.

2

Hi @Cole_Froe,

Yes, that is the expected behavior. A Velocity move to 0 also returns the Done and Settled status unlike other Velocity moves which have reached their target/final state.

You could safely checking for a “complete” condition checking for DONE or AT_VELOCITY. You shouldn’t ever see DONE for a velocity move other than one with a target velocity of 0.0.

1 Like