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Keyword Reference Guide

MN1270 02.2002 37

Attributes:

Controller Read Write Command Multi-

Axis

Scaled Default Range

NextMove

 



0 ≤ x ≤ 15

Description:

Axis warnings provide a method of asynchronous detection of abnormal states without any automatic

corrective action.

AXISWARNING accepts a bit pattern as follows:

Bit Meaning

0 The axis following error has reached of exceeded the warning limit.

1 The axis integrator term reached the value set by KINTLIMIT.

2 The maximum speed for an axis (as set with MAXSPEED) has been exceeded.

3 An invalid encoder edge transition has occurred

In the event of an

AXISWARNING the appropriate bit in will be set. This is latched until it is cleared by

manually writing zero to

AXISWARNING, or by calling CANCEL or RESET.

By default no action will be taken in the event of an axis warning occurring, by clearing the appropriate

bit in

AXISWARNINGDISABLE it is possible to force the occurrence of an axis warning to call the

#ONERROR routine. In the error handler in the Mint keyword

ERR will be set to 502 to indicate that an

axis warning is present.

All axis warnings wil NOT call #ONERROR by default.

Example:

AXISWARNINGDISABLE = 13 : REM disable all but KINTLIMIT warning

#ONERROR

IF ERR = 502 DO : REM check for axis warnings

IF (AXISWARNING.0 AND _awKINT_LIMIT) DO

REM if KINTLIMIT warning occurs then reduce the acceleration

REM of the axis

ACCEL = ACCEL * 0.5

ENDIF

AXISWARNING.0=0:REMclear the axis warning

ENDIF

RETURN

The above example firstly allows only axis warnings indicating that the KINTLIMIT has been reached

to call the error handler.

Within the error handler the value of

ERR is checked, if an axis warning exists and is of the correct type

the acceleration of axis 0 is reduced. Then the axis warning is cleared.

If the axis warning is not cleared it will continue to generate calls to the error handler.