Reference Manual

PMAC 2 Software Reference
192 PMAC On-Line Command Specification
Bit 1 Warning Following Error: This bit is 1 if the following error for the motor
exceeds its warning following error limit (Ix12). It stays at 1 if the motor is killed due to
fatal following error. It is 0 at all other times, changing from 1 to 0 when the motor’s
following error reduces to under the limit, or if killed, is re-enabled.
Bit 0 In Position: This bit is 1 when five 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 any move, DWELL, or
DELAY), the magnitude of the following error is smaller than Ix28.and the first four
conditions have been satisfied for (I7+1) consecutive scans.
Example
#1? .................... ; Request status of Motor 1
812000804401 ... ; PMAC responds with 12 hex digits representing 48 bits
........................... ; The following bits are true (all others are false)
........................... ; Word 1 Bit 23: Motor Activated
........................... ; Bit 16: Integration Mode
........................... ; Bit 13: Desired Velocity Zero
........................... ; Word 2 Bit 23: Assigned to Coordinate System
........................... ; (Bits 20-22 all 0 – assigned to C.S.1)
........................... ; Bit 14: Amplifier Enabled
........................... ; Bit 10: Home Complete
; Bit 0: In Position
See Also
On-line commands <CTRL-B>, ??, ???
Memory map registers X:$003D, X:$0079, etc. Y:$0814, Y:$08D4, etc.
Suggested M-variable definitions Mx30-Mx45
??
Function
Report the status words of the addressed coordinate system.
Scope
Coordinate-system specific
Syntax
??
Remarks
This causes PMAC to report status bits of the addressed coordinate system as an ASCII
hexadecimal word. PMAC returns twelve characters, representing two status words. Each
character represents four status bits. The first character represents bits 20-23 of the first
word; the second shows bits 16-19; and so on, to the sixth character representing bits 0-3.
The seventh character represents bits 20-23 of the second word; the twelfth character
represents its 0-3.
The value of a bit is 1 when the condition is true; 0 when it is false. The meanings of the
individual bits are:
FIRST WORD RETURNED (X:$0818, X:$08D8, etc.)
First character returned
:
Bit 23 Z-Axis Used in Feedrate Calculations: This bit is 1 if this axis is used in the
vector feedrate calculations for F-based moves in the coordinate system; it is 0 if this axis is
not used. See the FRAX command.
Bit 22 Z-Axis Incremental Mode: This bit is 1 if this axis is in incremental mode –
moves specified by distance from the last programmed point. It is 0 if this axis is in absolute
mode – moves specified by end position, not distance. See the INC and ABS commands.
Bit 21 Y-Axis Used in Feedrate Calculations: (See bit 23 description.)