Parker Automation Gemini GV6K, Command Reference Manual

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48 Gemini GV6K/GT6K Command Reference
[ AS ]
Axis Status
Type
Assignment or Comparison
Syntax
See below
Units
n/a
Range
n/a
Default
n/a
Response
n/a
See Also
[ ASX ], ESTALL, GOBUF, GOWHEN, INDUST, SMPER, TAS, TASF,
TRGFN, TSTAT, VARB
Product Rev
GT6K 6.0
GV6K 6.0
Use the
AS
operator to assign the axis status bits to a binary variable, or to make a comparison against a
binary or hexadecimal value.
To make a comparison against a binary value, the letter b (b or B) must be placed in front of the value that
the axis status is being compared against. The binary value itself must only contain ones, zeros, or Xs (1, Ø,
X, x). To make a comparison against a hexadecimal value, the letter h (h or H) must be placed in front of the
value that the axis status is being compared against. The hexadecimal value itself must only contain the
letters A through F, and the numbers Ø through 9. The function of each axis status bit is shown below.
Bit #
(left to right)
Function
(
1
= Yes;
Ø
= No)
GT6K GV6K
To Clear This Bit:
1 Motion is commanded. (CAUTION: This bit could be cleared
even while the motor is still “moving” – e.g., due to end-of-
move settling.)
X X
----------
2 Negative/positive-direction (
1
= negative,
Ø
= positive). X X ----------
3 Accelerating (commanded acceleration only –
TACC
). This bit
does not indicate commanded deceleration (bit is set to 0
during decel); to check if the axis is decelerating, the state of
TAS
bits 1, 3 and 4 should be:
TAS1x00
.
X X
----------
4
At commanded velocity (
TVEL
).
X X ----------
5
Home Successful (
HOM
) (YES/NO)
X X ----------
6 Absolute/Incremental (
MA
) position mode selected.
(
1
=
MA1
,
Ø
=
MA0
)
X X ----------
7 Continuous/Preset (
MC
) position mode selected.
(
1
=
MC1
,
Ø
=
MC0
)
X X
----------
8
Jog Mode selected (
JOG
)
(
1
=
JOG1
,
Ø
=
JOG0
)
-- -- ----------
9
Joystick Mode selected (
JOY
)
(
1
=
JOY1
,
Ø
=
JOY0
)
-- -- ----------
10 RESERVED
-- --
----------
11 Position Maintenance Mode
X --
----------
12
Stall detected (
ESTALL
)
X -- ----------
13
Drive shut down. NOTE : If operating in the
FLTDSB1
mode,
a shutdown (
DRIVE0
or open the Enable input interlock) will
cause a “fault condition” – see note * below.
X X
DRIVE1
14 * Drive Faults occurred.
Check the
TASX
response to identify which fault(s) occurred.
X X
DRIVE1
15 Positive-direction hardware limit hit. This is not a “fault
condition”. X X
LHØ
or
GO
in opposite
direction.
16 Negative-direction hardware limit hit. This is not a “fault
condition”. X X
LHØ
or
GO
in opposite
direction.
17 Positive-direction Software Limit (
LSPOS
) Hit.
X X
LSØ
or
GO
in opposite
direction.
18 Negative-direction Software Limit (
LSNEG
) Hit. X X
LSØ
or
GO
in opposite
direction.
19 Position Error X -- ---------
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