Aerotech UNIDEX 600 Series, User Manual

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U600 User’s Guide Parameters
Version 1.4
Aerotech, Inc.
C-39
C.2.92. SERVOSTATUS
This is a bitwise axis parameter, providing the current status of the motion on this axis.
Also, be aware that some motion conditions may also be reported in the STATUS,
Status1, Status2, Status3, and MOTIONSTATUS parameters. There are pre-defined
definitions of the bits in this axis parameter within AerStat.Pgm. These definitions take
the form of “SERVOSTATUS_xxx” where xxx is the name as listed below. For example;
If (SERVOSTATUS.X BAND SERVOSTATUS_DriveEnabled)
or
If( SERVOSTATUS.X BAND 0h00000001 )
could be used to test for the X axis Drive being enabled.
Table C-7. SERVOSTATUS bit definitions
Name Hex Value Description
DRIVE 0h00000001 Drive is enabled
AUX 0h00000002 Auxiliary (Mode) output on
CW_LIMIT 0h00000004 CW hardware limit active
CCW_LIMIT 0h00000008 CCW hardware limit active
HOME 0h00000010 Homing cycle active
DRIVE_FLT 0h00000020 Drive fault input active
ATHOME 0h00000040 Axis at home position
DONE 0h00000080 Motion Done
INPOS 0h00000100 Axis is in position
FAULTED 0h00000200 Axis fault present (See FAULT )
PROBE_INPUT 0h00000400 Probe input active
MARKER 0h00000800 Marker
HALL INPUT B 0h00001000 Hall-effect input B (#1)
HALL INPUT A 0h00002000 Hall-effect input A (#2)
HALL INPUT C 0h00004000 Hall-effect input C (#3)
HALL 4 (Unused) 0h00008000 Hall-effect input 4 (not used)
INEG_LIMIT 0h00010000 KI clamped negative
IPOS_LIMIT 0h00020000 KI clamped positive
VFF 0h00040000 VFF Enabled
BRAKE ACTIVE 0h00080000 Brake Output Active
ALIVE 0h00100000 Axis has no D/A
VVF_0ATC 0h00200000 VFF or position loop zero
FEEDBACK_IN 0h00400000 Feedback fault present
MFEEDBACK_IN 0h00800000 Master Feedback fault active
HP_VME_LASER 0h01000000 HP VME Laser
SCALEPGAIN 0h02000000 SCALEPGAIN active
AC 0h04000000 AC motor selected
MSET 0h08000000 Axis in MSET mode
HOMED 0h10000000 Axis has been homed since reset
ENCODER 0h20000000 Axis has encoder feedback
ERROR_MAP 0h40000000 Error mapping enabled
PLOOP_ONLY 0h80000000 Position loop only