Reference Manual

PMAC 2 Software Reference
PMAC On-Line Command Specification 191
Bit 15 (Reserved for future use)
Bit 14 Amplifier Enabled: This bit is 1 when the outputs for this motor’s amplifier
are enabled, either in open-loop or closed-loop mode (refer to Open-Loop Mode status bit to
distinguish between the two cases). It is 0 when the outputs are disabled (killed).
Bits 12-13 (Reserved for future use)
Tenth Character Returned
:
Bit 11 Stopped on Position Limit: This bit is 1 if this motor has stopped because of
either a software or a hardware position (overtravel) limit, even if the condition that caused
the stop has gone away. It is 0 at all other times, even when into a limit but moving out of it.
Bit 10 Home Complete: This bit, set to 0 on power-up or reset, becomes 1 when the
homing move successfully locates the home trigger. At this point in time the motor is usually
decelerating to a stop or moving to an offset from the trigger determined by Ix26. If a second
homing move is done, this bit is set to 0 at the beginning of the move, and only becomes 1
again if that homing move successfully locates the home trigger. Use the Desired Velocity
Zero bit and/or the In Position bit to monitor for the end of motor motion.
Bit 9 (Reserved for future use)
Bit 8 Phasing Search Error: This bit is set to 1 if the phasing search move for a
PMAC-commutated motor has failed due to amplifier fault, overtravel limit, or lack of
detected motion. It is set to 0 if the phasing search move did not fail by any of these
conditions (not an absolute guarantee of a successful phasing search).
Eleventh Character Returned
:
Bit 7 Trigger Move: This bit is set to 1 at the beginning of a jog-until-trigger or
motion program move-until-trigger. It is set to 0 at the end of the move if the trigger has
been found, but remains at 1 if the move ends with no trigger found. This bit is useful to
determine whether the move was successful in finding the trigger.
Bit 6 Integrated Fatal Following Error: This bit is 1 if this motor has been
disabled due to an integrated following error fault, as set by Ix11 and Ix63. The fatal
following error bit (bit 2) will also be set in this case. Bit 6 is zero at all other times,
becoming 0 again when the motor is re-enabled.
Bit 5 I
2
T Amplifier Fault Error: This bit is 1 if this motor has been disabled by an
integrated current fault. The amplifier fault bit (bit 3) will also be set in this case. Bit 5 is 0
at all other times, becoming 0 again when the motor is re-enabled.
Bit 4 Backlash Direction Flag: This bit is 1 if backlash has been activated in the
negative direction. It is 0 otherwise.
Twelfth Character Returned
:
Bit 3 Amplifier Fault Error: This bit is 1 if this motor has been disabled because of
an amplifier fault signal, even if the amplifier fault signal has gone away, or if this motor has
been disabled due to an I
2
T integrated current fault (in which case bit 5 is also set). It is 0 at
all other times, becoming 0 again when the motor is re-enabled.
Bit 2 Fatal Following Error: This bit is 1 if this motor has been disabled because
it exceeded its fatal following error limit (Ix11) or because it exceeded its integrated
following error limit (Ix63; in which case bit 6 is also set). It is 0 at all other times, becoming
0 again when the motor is re-enabled.