User guide

Change Summary, page 5
Topic Description
Status Reporting
Enhancements: (SEE_PG._232)
• New transfer (display status) commands:
TASX ....... Transfer extended axis status. Bit assignments are as follows:
.............. Bit #1: Motor fault (6104 only)
.............. Bit #2: Drive low voltage fault (6104 only)
.............. Bit #3: Drive over-temperature fault (6104 only)
.............. Bit #4: Drive fault input is active
TSEG ....... Transfer number of segments available in compiled memory
• New assignment/comparison operators:
SEG .......... Number of segments available in compiled memory
ASX .......... Extended axis status information
• Pre-emptive Motion and Registration status:
TAS & AS ... Axis status bit #28 is set if a registration move occurs.
................ Bit #30 is set if the profile specified for a pre-emptive GO or registration move
................ is not possible at the time of the GO or the registration input
................ (also sets error status bit #10).
TER & ER .... Error status bit #8 is set if a stop input (INFNCi-D) is activated.
................ Bit #10 is set if axis status bit #30 is set.
................ Bit #16 is set if a bad command is detected; cleared with TCMDER.
• Compiled profile status:
TSS & SS .... System status bit #29 is set if compiled memory is 75% full.
................ Bit #30 is set if compiled memory is 100% full.
................ Bit #31 is set if a compile (PCOMP) failed, cleared on power-up,
................ reset, or after a successful compile. Possible causes include:
................ - Errors in profile design (e.g., change direction while at non-
................ zero velocity, distance & velocity equate to < 1 count/system
................ update, preset move profile ends in non-zero velocity)
................ - Profile will cause a Following error (see TFS & FS status)
................ - Out of memory (see system status bit #30)
................ - Axis already in motion at the time of the PCOMP command
................ - Loop programming errors (e.g., no matching PLOOP or PLN,
................ more than 4 embedded PLOOP/END loops)
TSEG & SEG Report number of available segments in compiled memory.
• Drive Fault Input Status: As of revision 4.1, extended axis status (TASX & ASX) bit #4 is now
available to check the drive fault input status whether or not the drive is enabled (DRIVE1) or
disabled (DRIVEØ). Previous to revision 4.1, the status of the drive fault input could only be
checked while the drive was enabled (DRIVE1) and was reported only with axis status (TAS & AS) bit
#14 and error status (TER & ER) bit #4. The branch to the error program has not been changed—the
error program is called only if the drive fault occurs while the drive is enabled.
• The INDUST command (which allows you to create your own custom status word based on other
status registers) now allows you to use the status bits from the extended axis status (see TASX
description above). In the syntax INDUSTi-ic, the options for “c” (the status register source) now
include L, M, N and O, representing the extended axis status registers for axes 1, 2, 3 and 4,
respectively. For additional details on creating a custom user status word, refer to the INDUST
command description.
• As of Rev 4.1, the TVELA command is now applicable to all stepper controllers using encoder
feedback (previously only for servos). For steppers, the TVELA command reports the current
velocity (in revs/sec) as derived from the encoder. The reported value is
not affected by scaling.
The VELA assignment/comparison operator for TVELA is now available as of rev 4.0.
Target Zone
• The Target Zone mode allows you to define what the controller considers a “completed move,”
based on specified end-of-move distance, velocity, and settling time parameters. As of revision
4.0, the Target Zone mode is now applicable to
all 6000 products (previous to 4.0, the Target Zone
mode was available only for servo products). NOTE: Steppers require encoder feedback (and ENC1
mode) for this feature. (SEE_PG._105)
• Target Zone Commands:
STRGTE.... Target Zone Mode Enable/Disable
STRGTD.... Target Distance Zone
STRGTT.... Target Settling Timeout Period
STRGTV.... Target Velocity Zone