User Manual

Using Processor FilesC–6
Publication 1746-6.19 March 1998
Bit Map of Command Mode Word
Word Bit Description
15
0 = plots each move of the axis, overwwriting previous plot
1 = disables axis plot to preserve the last plot
Command Mode
(Co and word )
14-08 reserved
Co and Mode
(Command word 0)
07
0 = disables S Curve
1 = module computes an S-curve target for smoother motion
06
0 = disables Quick Mode
1 =
module ramps up to (max) drive output in open loop,
maintains it, then ramps down in closed loop axis limit
05-04 Synch A/B: Axes with same bit set are synchronized
03-02
Integrator Mode = bit combination
Bit 03 Bit 02 Integrator is Active
0 0 always
01
during DECEL and IN POSITION
10 during IN POSITION
11 never
01-00
Accel/Decel Mode = bit combination
Bit 01 Bit 00 Accel/Decel values define:
00 ramp rate in position units/sec/sec
01 ramp rate in 1000 position units/sec/sec
10 distance to SPEED
11 time to SPEED
Bit Map of Axis Status Word
Word Bit Description
15
0 = LDT input OK
1 = LDT input lost
14
0 = LDT input OK
1 = LDT input noisy
For hard/soft stop, see config auto-stop, bit 06
Ax
i
s
Statu
s
(Statu word 4)
13
0 = LDT input OK
1 = LDT input overflow
For hard/soft stop, see config auto-stop, bit 05
Ax
i
s
Statu
s
(Status word 4)
12
0 = output drive power OK
1 = output drive exceeds D/A range (insufficient drive power)
For hard/soft stop, see config auto-stop, bits 12 and 04
11
0 = no parameter error detected
1 = initialization or control parameter is out of bounds
For hard/soft stop, see config auto-stop, bits 1 1 and 03
10
0 = no position overflow detected
1 = actual position exceeded range of 16-bit number display
09
0 = integrator windup OK
1 = integrator value exceeded 20% or 80% (see config bit 00)
For hard/soft stop, see config auto-stop, bits 09 and 01
08
0 = following error OK
1 = dif ference between target and actual positions > max error
For hard/soft stop, see config auto-stop, bits 08 and 00
07
0/1 = toggles to acknowledge valid command or status request
received by the module
06
0 = module not initialized (module is reset)
1 = initialized with P command (axis ready for Go command)
05-04
State of target generator = bit combination
Bit 05 Bit 04 T arget Generator is
0 0 stopped
0 1 accelerating
10 at constant speed
11 decelerating
03
0 = axis in closed loop
1 =
axis in open loop, caused by O command or hard stop
02
0 = axis movement
1 = axis is halted, caused by H command, hard or soft stop
01
0 = axis movement
1 = axis speed < 500 transducer counts (cleared @ 1000 cts)
00
0 = axis outside in-position window
1 = dif ference between actual and command positions is less
then the in-position value