Aerotech UNIDEX 600 Series, User Manual

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Getting Started U600 User’s Guide
2-14
Aerotech, Inc.
Version 1.4
Table 2-5. Axis Faults (cont’d)
Bit Hex Value Fault Name Description
15 0x8000 Probe Fault Occurs each time the probe trigger causes the position to latch.
This is useful for notifying the application program that position
information is available.
16 0x10000 Taskfault Taskfault occurred while executing a CNC command running a
task. (please see the Taskfault Task parameter )
17 0x20000 External Feedback Fault Difference between the integration of the velocity command and
velocity feedback is greater than the FBWINDOW axis parameter.
18 0x40000 Safe Zone SAFEZONE axis parameters are active and the axis has violated the
defined safe zone.
19 0x80000 Constant Velocity Phase
Interrupt Axis interrupt was generated when move reached constant non-zero
velocity (see INTMASK Axis parameter).
20 0x100000 Decel Phase Interrupt Axis interrupt was generated when move reached the decel phase.
21 0x200000 Move Done Interrupt Axis interrupt was generated when move was done.
22 0x400000 POSTOGO interrupt Axis interrupt was generated when POSTOGO passed under the
POSTOGOIRQ value (see the POSTOGOIRQ Axis parameter).
23 0x800000 ESTOP Emergency stop has occurred (see Section 2.8.)
24 0x1000000 WatchDog Fail Safe timer
25 0x2000000 Position Tolerance Axis did not move the distance specified by POSTOLERANCE,
within the POSTOLTIME period at the start of the move
26-31 Unused
2.6.2. Fault Masks
The UNIDEX 600 Series controller has several bit mask axis parameters that define the
controller’s reaction to fault conditions. These parameters are FAULTMASK, AUXMASK,
ABORTMASK, BRAKEMASK, DISABLEMASK, HALTMASK, and INTMASK. The
actions associated with these parameters are detailed in the following sections.
Keep in mind that the word “fault mask” refers to all of the parameters above, while
FAULTMASK applies only to the first in the list above.
Each of the fault masks relates to a particular action to take. The value of a fault mask is a
bit mask, representing a set of conditions for the given action to take. The given action
takes place if one or more of the conditions is true. For example, the action for
DISABLEMASK is disabling the axis.
Refer to Section 2.6.2.8., for an example of how to use fault masks.
Table 2-6. Fault Mask Actions
Axis Parameter Action
FAULTMASK Determines which faults will be detected or ignored.
DISABLEMASK Disable drive
HALTMASK Halt motion
AUXMASK Set/clear AUX axis parameter
ABORTMASK Abort motion
INTMASK Send interrupt to PC application
BRAKEMASK Activate Motor brakes