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應用程式函式庫
v2.0
193
a. when all the drive pulses are output in fixed driving,
b. when deceleration stop or sudden stop command is written,
c. when software limit is enabled, and is active,
d. when external deceleration signal is enabled, and active,
e. when external limit switch signals (nLMTP, nLMTM) become active,
f. when nALARM signal is enabled, and active, and
g. when EMGN signal is on the Low level.
Above factors “a.” and “b.” can be controlled by the host CPU, and factor
“c.” can be confirmed by register RR2 even the driving is finished. As for
factors “d.” ~ “g.”, the error status is latched in RR2 until next driving
command or a clear command (25h) is written.
After the driving is finished, if the error factor bits D15~D12 become 1,
n-ERR bit of main status register RRO will become 1.
Status bit of driving finishing can be cleared when next driving command is
written, or when the finishing status clear command (25h) is used.
B.10 Status Register 2: RR2
Each axis is with status register 2. The axis specified by NOP command or
the condition before decides which axis’ s register will be read.
This register is for reflecting the error information. When an error occurs,
the error information bit is set to 1. When one or more of D6 to D0 bits of
RR2 register are 1, n-ERR bits of main status register RR0 become 1.
RR2
D0 SLMT+
During the + direction driving, when logical / real position
counter
≥
COMP+ (COMP+ enabled, and used as software limit)
D1
SLMT
−
During the
−
direction driving, when logical / real position counter
≤
COMP
−
(COMPenabled, and used as
software
limit)
D2 HLMT+ When exdirection limit signal (nLMTP) is on its active level
D3 HLMT
−
When
external
−
direction limit signal (nLMTM) is on its active level
D4
ALARM
When the alarm signal (nALARM) for servo motor is on its active
level
D5
EMG
When emergency stop signal (EMGN) becomes Low level.
D6
MULT
This bit is only for the X axis of main chip at the multichip
interpolation. When an error occurs in any axis
of sub chip during multichip interpolation, it will become 1.
In driving, when hardware / software limit is active, the decelerating