Command generator status word. The following are the bit definitions:

   bit 0 - command generator in progress
   bit 1 - new setpoint is ready
   bit 2 - servo command done
   bit 3 - Cartesian trajectory mode active, keep interpreting setpoints even if "in motion" flag turned off and planned trajectory completed.
   bit 4:31 - (reserved)

NOTE: The "command done" flag simply means that the command generation is complete but does not mean that the motion is complete since the axis may still be in the process of settling to the final position.

Trajectory commands. Note that these values may come from different sources depending on the axis operation mode.

In the special case when the torque set point is directly commanded, this value represents the total received torque command. For example, if an axis is placed into AIN-torque mode and a torque command also comes from GPL directly, this value will be the sum of DataID 12441 and 12442.

Time-stamp of the incoming setpoint.

For kinematic modules that generate Dynamic Feedforward torques, this parameter indicates the DFF torque command that was received from the Trajectory Generator, in tcnts.  Unlike the "Dynamic feedforward torque" (DataID 12337) that is only valid when a servo is in position control mode, this value is valid in any mode including torque control mode.  It displays the DFF value whether or not this value is added to the motor output.