Reference Manual

PMAC 2 Software Reference
194 PMAC On-Line Command Specification
that have been calculated. Compare to the motor Running Program status bit.
SECOND WORD RETURNED (Y:$0817, Y:$08D7, etc.)
Seventh character returned
:
Bit 23 Program Hold Stop: This bit is 1 when a motion program running in the
currently addressed Coordinate System is stopped using the ‘ \ ‘ command from a segmented
move (LINEAR or CIRCLE mode with I13 > 0).
Bit 22 Run-Time Error: This bit is 1 when the coordinate system has stopped a
motion program due to an error encountered while executing the program (e.g. jump to non-
existent label, insufficient calculation time, etc.)
Bit 21 Circle Radius Error: This bit is 1 when a motion program has been stopped
because it was asked to do an arc move whose distance was more than twice the radius (by an
amount greater than Ix96).
Bit 20 Amplifier Fault Error: This bit is 1 when any motor in the coordinate system
has been killed due to receiving an amplifier fault signal. It is 0 at other times, changing
from 1 to 0 when the offending motor is re-enabled.
Eighth character returned
:
Bit 19 Fatal Following Error: This bit is 1 when any motor in the coordinate
system has been killed due to exceeding its fatal following error limit (Ix11). It is 0 at other
times. The change from 1 to 0 occurs when the offending motor is re-enabled.
Bit 18 Warning Following Error: This bit is 1 when any motor in the coordinate
system has exceeded its warning following error limit (Ix12). It stays at 1 if a motor has been
killed due to fatal following error limit. It is 0 at all other times. The change from 1 to 0
occurs when the offending motor’s following error is reduced to under the limit, or if killed
on fatal following error as well, when it is re-enabled.
Bit 17 In Position: This bit is 1 when all motors in the coordinate system are “in
position”. Five conditions must apply for all of these motors for this to be true:, the loops
must be closed, the desired velocity must be zero for all motors, the coordinate system cannot
be in any timed move (even zero distance) or DWELL, all motors must have a following
error smaller than their respective Ix28 in-position bands, and the above conditions must have
been satisfied for (I7+1) consecutive scans.
Bit 16 Rotary Buffer Request: This bit is 1 when a rotary buffer exists for the
coordinate system and enough program lines have been sent to it so that the buffer contains at
least I17 lines ahead of what has been calculated. Once this bit has been set to 1 it will not be
set to 0 until there are less than I16 program lines ahead of what has been calculated. The
‘PR’ command may be used to find the current number of program lines ahead of what has
been calculated.
Ninth character returned
:
Bit 15 Delayed Calculation Flag: (for internal use)
Bit 14 End of Block Stop: This bit is 1 when a motion program running in the
currently addressed Coordinate System is stopped using the ‘ / ‘ command from a segmented
move (Linear or Circular mode with I13 > 0).
Bit 13 Synchronous M-variable One-Shot: (for internal use)