User guide

Chapter 2. Communication 49
Option
#
Information
Provided *
Equivalent
Status Command
Size
(words)
Stepper
(AT6n00)
Servo
(AT6n50)
1 Commanded velocity (counts/sec) TVEL 2 x 4 • •
2 Axis status TAS 2 x 4 • •
3 Programmable input status (including triggers)
Programmable output status (including aux. outputs)
Limit status (hardware end-of-travel and home)
Other input status (joystick and enable)
A/D analog input voltage (joystick connector)
TIN
TOUT
****
TINO
TANV
2 x 1
2 x 1
1 x 1
1 x 1
2 x 1
•
•
•
•
•
•
•
•
•
•
4 Interrupt status
System status
User status
Time frame-mark (system update units – see SSFR)
Timer value (milliseconds)
TINT
TSS
TUS
n/a
TIM
2 x 1
2 x 1
1 x 1
1 x 1
2 x 1
•
•
•
•
•
•
•
•
•
•
5 ANI input counts (ANI option only) (counts, not volts) **
Commanded DAC counts (counts, not volts) **
TANI
TDAC
1 x 4
1 x 4
•
•
6 Position error (counts) TPER 2 x 4 • •
7 Following status TFS 2 x 4 *** •
8 Actual velocity (feedback device counts/sec) TVELA 2 x 4 •
9 Captured commanded/motor position via trigger A (counts) TPCCA/TPCMA 2 x 4 • •
10 Captured commanded/motor position via trigger B (counts) TPCCB/TPCMB 2 x 4 • •
11 Captured commanded/motor position via trigger C (counts) TPCCC/TPCMC 2 x 4 • •
12 Captured commanded/motor position via trigger D (counts) TPCCD/TPCMD 2 x 4 • •
13 Captured actual position via trigger A (counts) TPCEA 2 x 4 • •
14 Captured actual position via trigger B (counts) TPCEB 2 x 4 • •
15 Captured actual position via trigger C (counts) TPCEC 2 x 4 • •
16 Captured actual position via trigger D (counts) TPCED 2 x 4 • •
17 Captured ANI value via trigger A (ADC counts) TPCAA 2 x 4 •
18 Captured ANI value via trigger B (ADC counts) TPCAB 2 x 4 •
19 Captured ANI value via trigger C (ADC counts) TPCAC 2 x 4 •
20 Captured ANI value via trigger D (ADC counts) TPCAD 2 x 4 •
21 Following master cycle position TPMAS 2 x 4 *** •
22 Following master cycle number TNMCY 2 x 4 *** •
23 Following net shift TPSHF 2 x 4 *** •
* Motion data in the fast status area is never scaled.
Any data that is not applicable (e.g., 3
rd
and 4
th
axis information for AT6250 & AT6200) will be zeros.
** ANI counts: 819 counts/volt; DAC counts: 2048 counts/10 volts.
*** Available for stepper product revisions 3.0 and higher.
**** Refer to the Limits Bit Assignments note on page 43.
Card Status and Interrupts to/from PC-AT (Base+4)
Status Read D7 D6 D5 D4 D3 D2 D1 D0 Function
X Data is in controller's output buffer:
1 = data in buffer, 0 = buffer empty
X Controller ready to receive commands (256-byte buffer):
1 = buffer full, 0 = ready to receive
X Status of controller general purpose interrupt:
1 = interrupt exists, 0 = no interrupt
X Status of controller status area update interrupt to PC-AT:
1 = status updated, 0 = status not updated
X Status of controller master interrupt enable:
1 = interrupts enabled, 0 = interrupts disabled
X Kill has been requested, not yet executed:
1 = kill requested, 0 = kill not requested
X Controller operating system successfully loaded:
1 = not loaded, 0 = loaded
X Bus controller successfully loaded:
1 = not loaded, 0 = loaded