Logosol LS-231SE, Руководство пользователя, Страница: 46 / 51

Logosol Multifunctional Servo Drive LS-231SE
Doc # 712231004 / Rev. A, 05/05/2011
Logosol, Inc.
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1155 Tasman Drive
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Sunnyvale, CA 94089 Tel: (408) 744-0974
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www.logosolinc.com
46
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 Set if current limiting has exceeded. Must be cleared by user with
Clear Sticky Bits command
3 Power_on/diag. bit Refer to LS-231SE Diagnostic and I/O section in this document
4 Pos_error Set if the position error has exceeded the position error
limit. It is also set whenever the position servo is
disabled (Power_on=0). Must be cleared by user with
Clear Sticky Bits command
5 Home source/ Home source or diagnostic bit (refer LS-231SE Diagnostic and I/O
diag. bit section in this document).
6 Limit2/diag. bit Forward Limit or diagnostic bit (refer to LS-231SE Diagnostic and
I/O section in this document).
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 LS-231SE Diagnostic and I/O section in this document).
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 51.2 uSec, 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
6 Path mode Set when the drive is currently executing a path. Cleared when
buffer is emptied or Stop Motor or Load Trajectory command
is sent.