Aerotech UNIDEX 600 Series, User Manual

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Parameters U600 User’s Guide
C-8
Aerotech, Inc.
Version 1.4
Table C-2. ALT_STATUS Bit Definitions
Name Hex Value Description
LAST_MVE 0h00000001 final move into home
ALT_HME 0h00000002 alternate home
PWR_HME 0h00000004 home start in limit
FND_HME 0h00000008 home limit detected
TRQ_SET 0h00000010 valid torque parameters
TRQ_EN 0h00000020 torque enable
HALL_COMM 0h00000040 hall effect commutation
HALL_EDGE 0h00000080 first edge received
DUAL_LOOP 0h00000100 dual loop feedback
VME_JOG 0h00000200 vme jog mode
LST_DIR 0h00000400 ccw motion in hall commutation
JOG_DIR 0h00000800 positive jog direction
EXT_RES 0h00001000 external resolver feedback
REV_ERROR_ON 0h00002000 reversal error enabled
LAST_REV_POS 0h00004000 last reversal in positive direction
LAST_REV_NEG 0h00008000 last reversal in negative direction
SAFE_ENABLE 0h00010000 safe zone enabled
SAFE_OUTSIDE 0h00020000 safe zone is outside region
SIMULATION 0h00040000 feedrate override
HOME_VELOCITY 0h00080000 home off the velocity transducer
ACCEL_RATE 0h00100000 acceleration rate
DECEL_RATE 0h00200000 deceleration rate
PHASE_MODE 0h00400000 phase advance mode active
HOME_COMPLETE 0h00800000 home cycle complete
LIMIT_OVERRIDE 0h01000000 always check soft limits if reset
SLAVE_ENCODER 0h02000000 slave encoder
QUE_CAM 0h04000000 cam table queued
HOME_NOLIM 0h08000000 home without home limit
SPEED_OUTPUT 0h10000000 velocity command mode
STEPR 0h20000000 stepper motor
Invert Polarity 0h40000000 ICMD Polarity = 1
Encoder Master Feedback 0h80000000 axis slaved to master
C.2.9. AUX (Mode) Output
This axis parameter reflects the state of the auxiliary output (also referred to as the mode
output) of a selected axis. An auxiliary value of one indicates that the auxiliary output is
enabled. This output may be used to activate a motor brake for a vertically mounted axis.
The user may configure the FAULTMASK and AUXMASK parameters to cause this
output to enable on an axis fault. Therefore, each time a fault condition occurs, the system
would apply a brake to the motor. The enabled state of the AUX output can be specified
as either a high or low voltage state. Refer to the IOLEVEL axis parameter for an
explanation of the process. By default the AUX is active low, meaning, when the AUX is
enabled, there is a zero voltage (sinking current) on the auxiliary line.