Aerotech UNIDEX 600 Series, User Manual

Page: 80 / 354

U600 User’s Guide AerDebug
Version 1.4
Aerotech, Inc.
4-11
4.4.2. Faults, Errors, and Faultmasks
Each axis uses a series of masks to enable or disable faults and to invoke protective
measures (e.g., drive disabling or halting axis motion). These masks are FAULTMASK,
HALTMASK,
DISABLEMASK, INTMASK, AUXMASK, ABORTMASK, and
BRAKEMASK.
The occurrence of axis faults and programming errors are not immediately reported
to the user through AerDebug.
Notification does not occur because AerDebug would have to set the INTMASK to enable
interrupts and claim that hardware interrupt under Windows NT/95. Enabling and
claiming the interrupt may conflict with a user’s application causing undesirable and
unpredictable results. For a full description of faultmasks, refer to Chapter 2: Getting
Started, Section 2.6.2.
4.4.2.1. Acknowledging (and Clearing) Faults
AerDebug does not inform the user when the fault occurs. The user must query the system
with the TskInfo command or the PARMGET A FAULT command, which returns any
active faults. Faults are acknowledged or cleared by using the PARMSET A FAULT
command.
For example, if a position error and CW limit fault are active, the PARMGET A FAULT
command would display:
FAULT: 5.000000
indicating bit 0 and bit 2 were set. To acknowledge and clear both of these faults, at the
axis prompt, the user would enter:
PARMSET A FAULT 5
to clear bits 0 and 2. After a fault is cleared, there is no longer a record that it occurred.
The only way to remove fault conditions is to acknowledge them.
The user may also monitor a fault using the PARMMON A FAULT command.