Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC On-line Command Specification 282
Bit 5 Following Offset Mode: This bit is 1 when Ixx06 bit 1 is 1 and position following is executed in
“offset mode”, in which the motor’s programming reference position moves with the following. This bit
is 0 when Ixx06 bit 1 is 0 and position following is executed in “normal mode”, in which the motor’s
programming reference does not move with the following.
Bit 4 Following Enabled: This bit is 1 when Ixx06 bit 0 is 1 and position following for this axis is
enabled; it is 0 when Ixx06 bit 0is 0 and position following is disabled.
Sixth character returned:
Bit 3 Error Trigger: This bit is 1 when Ixx97 bit 1 is set to 1 and the motor’s triggered moves trigger
on the warning following error limit being exceeded. Itis 0 when Ixx97 bit 1 is set to 0 and the motor’s
triggered moves trigger on a specified input flag state.
Bit 2 Software Position Capture: This bit is 1 when Ixx97 bit 0 is set to 1 and the motor’s triggered
moves use a software-captured position as the reference for the post-trigger move. It is 0 when Ixx97 bit
0 is set to 0 and the motor’s triggered moves use the hardware-captured counter position as the reference
for the post-trigger move.
Bit 1 Integrator in Velocity Loop: This bit is 1 when bit 1 of Ixx96 is set to 1 and the PID integrator is
inside the velocity loop, acting on the velocity error. This bit is 0 when bit 1 of Ixx96 is 0 and the PID
integrator is in the position loop, acting on the position error. (In firmware revisions V1.940 and older,
this status bit was bit 0 of Ixx96.)
Bit 0 Alternate Command-Output Mode: This bit is 1 when bit 0 of Ixx96 is set to 1 and the motor’s
commands are output in the alternate mode. If Ixx01 bit 0 is 1, this means that open-loop direct-
microstepping commutation is performed instead of the normal closed-loop commutation. If Ixx01 bit 0 is
0, this means that the motor’s non-commutated output is formatted as a sign-and-magnitude signal pair,
instead of a single bipolar signal output. This bit is 0 when bit 0 of Ixx96 is set to 0 and the motor’s
commands are output in the standard mode. (In firmware revisions V1.940 and older, this status bit was
the Ixx90 rapid speed control.)
Second Word Returned (Y:$0000C0, Y:$000140, etc.):
Seventh character returned:
Bits 20-23 (C.S. - 1) Number: These three bits together hold a value equal to the (Coordinate System
number minus one) to which the motor is assigned. Bit 23 is the MSB, and bit 20 is the LSB. For
instance, if the motor is assigned to an axis in C. S. 6, these bits would hold a value of 5: bit 23 = 0, bit 22
= 1, bit 21 = 0, and bit 20 = 1.
Eighth character returned:
Bits 16-19 Coordinate Definition: These four bits tell what axis or axes this motor has been
assigned to in an axis definition statement. The following values are currently used:
0: No definition
1: Assigned to A-axis
2: Assigned to B-axis
3: Assigned to C-axis
4: Assigned to UVW axes
7: Assigned to XYZ axes
Ninth Character Returned:
Bit 15 Assigned to C.S.: This bit is 1 when the motor has been assigned to an axis in any coordinate
system through an axis definition statement. It is 0 when the motor is not assigned to an axis in any
coordinate system.
Bit 14 (Reserved for future use)
Bit 13 Foreground In-Position: This bit is 1 when the foreground in-position checking is enabled with
I13=1 and when four conditions are satisfied: the loop is closed, the desired velocity zero bit is 1 (which
requires closed-loop control and no commanded move); the program timer is off (not currently executing