Reference Manual

PMAC 2 Software Reference
190 PMAC On-Line Command Specification
Third character returned:
Bit 15 Dwell in Progress: This bit is 1 when the motor’s coordinate system is
executing a DWELL instruction. It is 0 otherwise.
Bit 14 Data Block Error: This bit is 1 when move execution has been aborted
because the data for the next move section was not ready in time. This is due to insufficient
calculation time. It is 0 otherwise. It changes from 1 to 0 when another move sequence is
started. This is related to the Run Time Error Coordinate System status bit.
Bit 13 Desired Velocity Zero: This bit is 1 if the motor is in closed-loop control and
the commanded velocity is zero (i.e. it is trying to hold position). It is zero either if the motor
is in closed-loop mode with non-zero commanded velocity, or if it is in open-loop mode.
Bit 12 Abort Deceleration: This bit is 1 if the motor is decelerating due to an Abort
command, or due to hitting hardware or software position (overtravel) limits. It is 0
otherwise. It changes from 1 to 0 when the commanded deceleration to zero velocity
finishes.
Fourth character returned
:
Bit 11 Block Request: This bit is 1 when the motor has just entered a new move
section, and is requesting that the upcoming section be calculated. It is 0 otherwise. It is
primarily for internal use.
Bit 10 Home Search in Progress: This bit is set to 1 when the motor is in a move
searching for a trigger: a homing search move, a jog-until trigger, or a motion program move-
until-trigger. It becomes 1 as soon as the calculations for the move have started, and
becomes zero again as soon as the trigger has been found, or if the move is stopped by some
other means. This is not a good bit to observe to see if the full move is complete, because it
will be 0 during the post-trigger portion of the move. Use the Home Complete and Desired
Velocity Zero bits instead.
Bits 8-9 These bits are used to store a pointer to the next data block for motor
calculations. They are primarily for internal use.
Fifth and sixth characters returned
:
Bits 0-7 These bits are used to store a pointer to the next data block for motor
calculations. They are primarily for internal use.
SECOND WORD RETURNED (Y:$0814, Y:$08D4, etc.)
:
Seventh character returned
:
Bit 23 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.
Bits 20-22 (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 22 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 22 =1, bit 21 = 0, and bit 20 = 1.
Eighth character returned
:
Bits 16-19 (Reserved for future use)
Ninth Character Returned
: