Parker Automation Gemini GV6K Command Reference Manual page 50

[ AS ]
Axis Status
Type
Assignment or Comparison
Syntax
See below
Units
n/a
Range
n/a
Default
n/a
Response
n/a
See Also
[ ASX ], ESTALL, GOBUF, GOWHEN, INDUST, SMPER, TAS, TASF,
TRGFN, TSTAT, VARB
Use the operator to assign the axis status bits to a binary variable, or to make a comparison against a
AS
binary or hexadecimal value.
To make a comparison against a binary value, the letter b (b or B) must be placed in front of the value that
the axis status is being compared against. The binary value itself must only contain ones, zeros, or Xs (1, Ø,
X, x). To make a comparison against a hexadecimal value, the letter h (h or H) must be placed in front of the
value that the axis status is being compared against. The hexadecimal value itself must only contain the
letters A through F, and the numbers Ø through 9. The function of each axis status bit is shown below.
Bit #
(left to right)
Function (1 = Yes; Ø = No)
1 Motion is commanded. (CAUTION: This bit could be cleared
even while the motor is still "moving" – e.g., due to end-of-
move settling.)
2 Negative/positive-direction (1 = negative, Ø = positive).
3 Accelerating (commanded acceleration only – TACC). This bit
does not indicate commanded deceleration (bit is set to 0
during decel); to check if the axis is decelerating, the state of
TAS bits 1, 3 and 4 should be: TAS1x00.
4
At commanded velocity (TVEL).
5 Home Successful (HOM) (
6 Absolute/Incremental (MA) position mode selected.
(1 = MA1, Ø = MA0)
7
Continuous/Preset (MC) position mode selected.
(1 = MC1, Ø = MC0)
8 Jog Mode selected (JOG)
(1 = JOG1, Ø = JOG0)
9
Joystick Mode selected (JOY)
(1 = JOY1, Ø = JOY0)
10 RESERVED
11 Position Maintenance Mode
12 Stall detected (ESTALL)
13 Drive shut down.
a shutdown (DRIVE0 or open the Enable input interlock) will
cause a "fault condition" – see note * below.
14 * Drive Faults occurred.
Check the TASX response to identify which fault(s) occurred.
15 Positive-direction hardware limit hit. This is not a "fault
condition".
16 Negative-direction hardware limit hit. This is not a "fault
condition".
17
Positive-direction Software Limit (LSPOS) Hit.
18
Negative-direction Software Limit (LSNEG) Hit.
19 Position Error
48 Gemini GV6K/GT6K Command Reference
)
YES/NO
NOTE: If operating in the FLTDSB1 mode,
www.comoso.com
Product
GT6K
GV6K
GT6K GV6K To Clear This Bit:
X X ----------
X X
----------
X X
----------
X X ----------
X X ----------
X X
----------
X X ----------
-- -- ----------
-- -- ----------
-- -- ----------
X -- ----------
X -- ----------
X X
DRIVE1
X X
DRIVE1
X X LHØ or GO in opposite
direction.
X X
LHØ or GO in opposite
direction.
X X LSØ or GO in opposite
direction.
X X LSØ or GO in opposite
direction.
X --
---------
Rev
6.0
6.0