Aerotech UNIDEX 600 Series, User Manual

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U600 User’s Guide Parameters
Version 1.4
Aerotech, Inc.
C-23
If you repeatedly enable and disable the GEARMODE, you may have to set the
MASTERPOS axis parameter to prevent 32-bit over runs and resultant jerking
motion of the slave axis.
C.2.43. HALTMASK
This axis parameter defines the fault conditions that cause the axis to halt. The value
specified for this parameter is a bit mask where each bit corresponds to a specific fault.
The axis will halt if the bits for FAULTMASK and HALTMASK are set to one for any
given bit position. In halting motion, the axis will decelerate to zero velocity based on the
time/rate specified in its deceleration axis parameters. Setting a bit to a one halts the axis
when that particular fault occurs (assuming the corresponding bit in the FAULTMASK
parameter is set). This parameter has no effect on the position error tracking. If an axis is
triggered by a fault condition to abort and halt simultaneously, the abort takes priority.
Each bit set in this parameter should also be set in the FAULTMASK axis parameter, to
enable detection of that fault condition. The DISABLEMASK takes priority over the
HALTMASK and ABORTMASK, i.e.; if the DISABLEMASK is set to occur, the
HALTMASK or ABORTMASK will have no effect, because the DISABLEMASK
would disable the axis before it could halt or abort.
C.2.44. HOMEOFFSET
This axis parameter is the home offset in machine steps (counts). In other words it is the
value that will be loaded into the machine position registers at the completion of the home
cycle. It will not cause movement from the marker pulse (or resolver null position). The
home position will be set to this value. To be at zero following the home cycle will then
require an absolute move to zero.
When using the CNC (UNIDEX 600 MMI), the HomeOffset task parameter is used.
However, for Library invoked homing, the HOMEOFFSET axis parameter is used. If
using both CNC and Library interfaces simultaneously, the user must use the
HomeOffset task parameters.
However, it is overwritten by the HomeOffsetInch (or HomeOffsetDeg for rotary axis)
machine parameters, after conversion to machine steps. This parameter is the value that
will be loaded into the machine position registers at the completion of the home cycle, so
this parameter should not be set by the user, as it will be overwritten.
C.2.45. HOMESWITCHPOS
This axis parameter indicates the resolver value when the home limit switch is
encountered.
This parameter is valid only for axis using resolver based feedback.
WARNING