Aerotech UNIDEX 600 Series, User Manual

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U600 User’s Guide Parameters
Version 1.4
Aerotech, Inc.
C-15
C.2.24. CLOCK
This axis parameter is a counter that may be used as a clock with one millisecond
resolution. It is constantly incremented by the controller for each axis. It is reset to 0 when
the controller’s firmware is loaded and can also be reset by the user to any value.
Therefore, it can be used as a clock for relative timing purposes. This parameter can be
monitored in the AerDebug utility via the ParmMonitor command to verify controller
operation. If an error is returned by the command, then the controller is not running its
firmware, probably due to a jumper or AerReg (operating system registry) configuration
problem. If the parameter is displayed, but is not incrementing, verify that Jumper JP3 is
set to position 1-2 (not 2-3) on the UNIDEX 600 controller card.
EXAMPLES:
$GLOBAL0 = CLOCK.X
; Program start time
N001
;
; Run your program here
;
N1000
$GLOBAL0 = (CLOCK.X - $GLOBAL0 ) / 1000
; global0 now holds elapsed time in
; seconds, between line N001 and
; N1000
MSGLAMP1 BLUE $GLOBAL0 ; This line will display global0
; value on the MMI panel
C.2.25. CWEOT
This axis parameter determines the software clockwise end-of-travel limit. The controller
will not move to a position that exceeds this value. Instead, a CW_FAULT occurs each
time the user attempts to command a position beyond this value. The user must enter the
CW end-of-travel position in machine steps from the home position in the range (not
exceeding) -2.1 Billion (-((
±
2 E31)-1)). The CWEOT should always be more positive
than the CCWEOT parameter.
Be sure to set the CW Software Limit bit in the FAULTMASK axis parameter to enable
the detection of this fault, then set the bit in the appropriate mask parameter
(DISABLEMASK, HALTMASK, AUXMASK, ABORTMASK, INTMASK and
BRAKEMASK) for the action to occur on this fault.
The bounded by software limits flag must be set TRUE within the axis configuration
wizard for that axis, in order for soft limits to be active.
Software limits will be ignored until after the axis has been homed, if the
SOFTLIMITMODE parameter is set to one.
Software limits may not be activated for virtual axes.