Logosol LS-173AP, Руководство пользователя

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Logosol Absolute Positioning Servo Drive LS-173AP
Doc # 712173008 / Rev. 1.06, 05/09/2002
Logosol, Inc.
••
1155 Tasman Drive
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Sunnyvale, CA 94089 Tel: (408) 744-0974
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www.logosolinc.com 29
STATUS BYTE AND AUXILIARY STATUS BYTE DEFINITIONS
Status Byte
Bit Name Definition
0 Move_done Clear when in the middle of a trapezoidal profile
move or in velocity mode, when accelerating from
one velocity to the next. This bit is set otherwise,
including while the position servo is disabled
1 Cksum_error Set if there was a checksum error in the just received
command packet
2 Current_limit Not used.
3 Power_on/diag. bit Refer to LS-173 manual
4 Pos_error Set if the position error has exceeded the position error
limit. It is also set whenever the position servo is
disabled. Must be cleared by user with
Clear Sticky
Bits command
5 Diagnostic bit Diagnostic bit (refer to Status Bits and LED section
of this manual).
6 Diagnostic bit Diagnostic bit (refer to Status Bits and LED section
of this manual).
7 Home_in_progress Set while searching for a home position. Reset to
zero once the home position has been captured
Auxiliary Status Byte
Bit Name Definition
0 Index/diag. bit Compliment of the value of the index input or diagnostic bit
(refer to Status Bits and LED section of this manual).
1 Pos_wrap Set if the 32-bit position counter wraps around.
Must be cleared with the
Clear Sticky Bits command
2 Servo_on Set if the position servo is enabled, clear otherwise
3 Accel_done Set when the initial acceleration phase of a
trapezoidal profile move is completed. Cleared when
the next move is started
4 Slew_done Set when the slew portion of a trapezoidal profile
move is complete. Cleared when the next move is
started
5 Servo_overrun At the highest baud rate and servo rate, certain
combinations of calculations may cause the servo,
profiling, and command processing to take longer
than 0.512 msec, in which case, this bit will be set.
This is typically not serious, only periodically
introducing a small fraction of a millisecond delay to
the servo tick time. Cleared with the
Clear Sticky bits
command.