Newport ESP300 Series, User Manual

Page: 72 / 314

BK
assign DIO bits to inhibit motion
IMM PGM MIP
USAGE
♦ ♦ ♦
SYNTAX xxBKnn1, nn2 or xxBK?
PARAMETERS
Description
xx [ int ] - axis number
nn1 [ int ] - bit number for inhibiting motion
nn2 [ int ] - bit level when axis motion is inhibited
Range xx - 1 to MAX AXES
nn1 - 0 to 15
nn2 - 0 = LOW and 1 = HIGH or ? to read current setting
Units None
Defaults xx missing: error 37, AXIS NUMBER MISSING
out of range: error 9, AXIS NUMBER OUT OF RANGE
nn1 missing: error 38, COMMAND PARAMETER MISSING
out of range: error xx1, PARAMETER OUT OF RANGE
nn2 missing: error 38, COMMAND PARAMETER MISSING
out of range: error xx1, PARAMETER OUT OF RANGE
DESCRIPTION This command is used to assign DIO bits for inhibiting the motion of a selected
axis. If the selected axis is already in motion, and DIO bit is asserted, e-stop is
executed per E-stop configuration (Refer "
ZE " command for further details). If
the axis is not moving, any new move commands are refused as long as the DIO
bit is asserted. In either case, "DIGITAL I/O INTERLOCK DETECTED" error is
generated.
Note:
The direction of the DIO port (A, B or C) the desired bit belongs to, should be set
to "input" in order for the DIO bit to be read accurately. Refer "
BO " command
for further details.
RETURNS If the "?" sign takes the place of nn value, this command reports the current
assignment.
REL. COMMANDS BL - Enable DIO bits to inhibit motion
BO - Set DIO port A, B direction
BM - Assign DIO bits to notify motion status
EXAMPLE BO 0H | Set DIO ports A, B to input
2BK 1, 1 | Use DIO bit #1 to inhibit motion of axis #2. This DIO bit should be
HIGH when axis #2 motion is inhibited
2BL 1 | Enable inhibition of motion using DIO bits for axis #2
2BK? | Query the DIO bit assignment for axis #2
1, 1 | The controller responds with the assigned values
3-32 Section 3 – Remote Mode