Parker Automation Gemini GV6K Command Reference Manual page 295

* 6
FOLEN Active
* 7 Master is Moving
8 Master Dir Neg
Bits 5-8 indicate the status required for Following motion (i.e., a master must be
assigned, Following must be enabled, the master must be moving, and for many
features, the master direction must be positive).
Unless the master is a commanded position of another axis, it is likely that minor
vibration of the master will cause bits 7-8 to toggle on and off, even if the master is
nominally "at rest". These bits are meant primarily as a quick diagnosis for the absence
of master motion, or master motion in the wrong direction. Many features require
positive master counting to work properly.
9 OK to Shift
10 Shifting now
11 Shift is Continuous
12 Shift Dir is Neg
Bits 9-12 indicate the shift status of the follower. Shifting is super-imposed motion, but if
viewed alone, can have its own status. In other words, bits 10-12 describe only the
shifting portion of motion.
13 Master Cyc Trig Pend
14 Mas Cyc Len Given
15 Master Cyc Pos Neg
16 Master Cyc Num > 0
Bits 13-16 indicate the status of master cycle counting. If a Following application is
taking advantage of master cycle counting, these bits provide a quick summary of some
important master cycle information.
17 Mas Pos Prediction On
18 Mas Filtering On
19 RESERVED
20 RESERVED
Bits 17-18 indicate the status of master position measurement features.
21 RESERVED
22 RESERVED
23 OK to do FGADV move
24
FGADV move underway
Bits 23-24 indicate the status of geared advance features.
25 RESERVED
26 FMAXA/FMAXV limited
27-32 RESERVED
* All these conditions must be true before Following motion will occur.
Following has been enabled with the FOLEN command.
The specified master is currently in motion.
The current master direction is negative. (bit must be cleared to allow
Following move in preset mode–MCØ).
Conditions are valid to issue shift commands (FSHFD or FSHFC).
A shift move is in progress.
An FSHFC-based shift move is in progress.
The direction of the shift move in progress is negative.
A master cycle restart is pending the occurrence of the specified trigger.
A non-zero master cycle length has been specified with the FMCLEN
command.
The current master cycle position (PMAS) is negative. This could be
caused by a negative initial master cycle position (FMCP), or if the master
is moving in the negative direction.
The master position (PMAS) has exceeded the master cycle length
(FMCLEN) at least once, causing the master cycle number (NMCY) to
increment.
Master position prediction has been enabled (FPPEN).
A non-zero value for master position filtering (FFILT) is in effect.
OK to do Geared Advance move (master assigned with FOLMAS,
Following enabled with FOLEN, and follower axis is either not moving, or
moving at constant ratio in continuous mode).
Geared Advance move profile is in progress.
The present Following move profile is being limited by FMAXA or FMAXV.
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Command Descriptions 293