Specifications

BASIC commands
PROGRAMMING MANUAL 37
Revision 5.0
3.2.36 AXISSTATUS
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3.2.37 B_SPLINE
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Description The AXIS_ENABLE axis parameter is used to enable or disable particular
axis independently of others. This parameter can be set ON or OFF for each
axis individually. The default value on start-up is ON or all axes. The axis will
be enables if both AXIS_ENABLE for that axis is ON and WDOG is on. For
MECHATROLINK-II axes setting AXIS_ENABLE to OFF will disable Servo
Driver output to the motor. For Flexible axis Servo axis setting AXIS_ENABLE
to OFF will force both voltage outputs to 0. For Flexible axis Stepper Out and
Encoder Out axes, setting AXIS_ENABLE to OFF will block pulses generation
on the outputs.
Arguments N/A
Example AXIS_ENABLE AXIS(3) = OFF
This command will disable axis 3 independently of other axes in the system.
See also AXIS, DISABLE_GROUP
Type Axis parameter (read-only)
Syntax AXISSTATUS
Description The AXISSTATUS axis parameter contains the axis status and is used for the
motion error handling of the controller. The axis status consists of status bits,
which definitions are shown in the table below.
Bit
number
Description Value Character (as used in
Trajexia Studio)
0- 1-
1 Following error warning range 2 w
2 Servo Driver communication error 4 a
3 Servo Driver alarm 8 m
4 In forward limit 16 f
5 In reverse limit 32 r
6 Datuming 64 d
7 Feed hold input 128 h
8 Following error exceeds limit 256 e
9 In forward software limit 512 x
10 In reverse software limit 1024 y
11 Cancelling move 2048 c
12 Encoder out overspeed 4096 o
Arguments N/A
Example IF (AXISSTATUS AND 16)>0 THEN PRINT "In forward limit"
See also AXIS, ERRORMASK
Type Axis command
Syntax B_SPLINE(type, data_in, number_in, data_out, #expand)
Description Expands an existing profile stored in the TABLE using the B-Spline mathemat-
ical function. The expansion factor is configurable and the B_SPLINE stores
expanded profile to another area in the TABLE.
This is ideally used where the source CAM profile is too course and needs to
be extrapolated into a greater number of points.
Bit
number
Description Value Character (as used in
Trajexia Studio)