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Media Pro 4000 Brief				Date: March 8th 1999

File:	ASM-4020_Status_BR030899.txt
Module:	ASM-4020 with Firmware ASM42D05 or later	
Title:	Available ASM Status
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1) Generic Syntax of Status Statements

	a) Loading the persistent update of status is  

		1) LOAD @Vvvv WITH @Rr,s,p STATUS n BYTE L-H;
		   LOAD @Iiii WITH @Rr,s,p STATUS n BYTE L-H;
		   LOAD @Oooo WITH @Rr,s,p STATUS n BYTE L-H;
		   LOAD @vvvv WITH @Qqqq STATUS n BYTE L-H;
		   LOAD @vvvv WITH @Aaaa STATUS n BYTE L-H;
		   LOAD 'Alias_1' WITH 'Alias_2' STATUS n BYTE L-H;

		2) where the number 'n' selects the status-of-interest.

			a) If n is a number higher than the highest
			   status available 0's will be returned.

		3) where the range L-H specifies the first and last
		    bytes of the range to move.

			a) Where 0 is the Least Significant Byte.

			b) If the range selected is larger than the
			   value returned the upper remaining bytes
			   will be set to 0's.

		5) If the range selected is larger than the destination
		   the next object(s) will be filled also.

			a) ie: Load @i123 with @Rr,s,p Status 0 Byte 0-3;

				1) Fills @i123 with byte 0
				   Fills @i124 with byte 1
				   Fills @i125 with byte 2
				   Fills @i126 with byte 3

	c) Unloading the persistent update of status is  

		1) Unload @Vvvv;
		   Unload @Iiii;
		   Unload @Oooo;
		   Unload 'Alias';


2) Port Status Available in the ASM-4020, with Firmware ASM42D04.cod, ASM42B04.cod

	a) Index Numbers for Status Available by Port
		n	Description	L-H

		0) Port Status Bits	0-3

			a) Port Status has Changed	bit 0
		
			b) Port Not Configured		bit 1
		
			c) Port E-Stopped		bit 2

			d) Animation Disabled		bit 3
		
			e) Set Disabled			bit 4
		
			f) Ramp Disabled		bit 5
		
			g) Output Disabled		bit 6
		
			h) E-Stop Disabled		bit 7
		
			i) Unipolar Output Enabled	bit 8
		
			j) Direct Output Enabled	bit 9
		
			k) 12 bit Input Enabled		bit 10
		
			l) Home Position Enabled	bit 11

			m) Compliance Enabled		bit 12
		
		1) Following Error	0-1

		2) Command Out		0-1

		3) Feedback		0-1

		4) Command Position	0-1

		5) Animation Data	0-1

		6) Velocity		0-1


	b) Example: load variable 123 with the feedback position of
	    the ASM in rack 31, slot 16, port 7.

		1) LOAD @V123 WITH @R31,16,7 STATUS 3 BYTE 0-1;

			a) @v123 will be filled with a value between
			    0 and 4095.


3) Board Status Available in the ASM-4020, with Firmware ASM42D04.cod, ASM42B04.cod

	a) Index Numbers for Status Available by Board
		n	Description	L-H

		0) Board Status Bits	0-3

			a) Board Status has Changed	bit 0
		
			b) Some Port Status has Changed	bit 1
		
			c) Board was Reset		bit 2

			d) Running Download Code	bit 3
		
			e) E-Stop Bus Input		bit 4
		
			f) Constant Bus Input		bit 5
		
			g) Delayed 5v Input		bit 6
		
			h) Hardware Problem		bit 7
		
			i) No Download Code		bit 8
		
			j) No Configuration in Flash	bit 9
		
			k) No Parameters in Flash	bit 10
		
			l) Board Command Error		bit 11

			l) Maintenance Mode		bit 12

			m) Program Mode			bit 13

		1) Boot Version Number	0-1

		2) Download Version #	0-1


	b) Example: load variable 123 with the Download Version
	    the ASM in rack 31, slot 16

		1) LOAD @V123 WITH @R31,16 STATUS 2 BYTE 0-1;

			a) @v123 will be filled with a value
			    representing the version number
			    of the downloaded firmware.

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Specifications subject to change at any time.

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Phone (661) 257-2184     Fax (661) 257-2025
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