Delta Tau GEO BRICK LV Reference Manual
Turbo PMAC/PMAC2 Software Reference
Turbo PMAC On-line Command Specification
283
any move, DWELL, or DELAY), and the magnitude of the following error is smaller than Ixx28. It is 0
otherwise.
Bit 12 Stopped on Desired Position Limit: This bit is 1 if the motor has stopped because the desired
position has exceeded the software overtravel limit parameters (Ixx24 bit 15 must be 1 to enable this
function). It is 0 otherwise.
otherwise.
Bit 12 Stopped on Desired Position Limit: This bit is 1 if the motor has stopped because the desired
position has exceeded the software overtravel limit parameters (Ixx24 bit 15 must be 1 to enable this
function). It is 0 otherwise.
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. Usually, at this point in time the motor is decelerating to a stop or
moving to an offset from the trigger determined by Ixx26. 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
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. Usually, at this point in time the motor is decelerating to a stop or
moving to an offset from the trigger determined by Ixx26. 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
Phasing Search/Read Active: This bit is set to 1 if the phasing search move or phasing absolute
position read is currently ongoing for the motor. It is set to 0 otherwise.
Bit 8
Bit 8
Phasing Reference Error: This bit is set to 1 on power-up/reset for a PMAC-commutated (Ixx01
bit 0 = 1) synchronous motor. It is also set to 1 at the beginning of a phasing search move or phasing
absolute position read for such a motor. It is set to 0 on the successful completion of a phasing search
move or phasing absolute position read. If this bit is 1, the position/velocity servo loop cannot be closed
for this motor.
absolute position read for such a motor. It is set to 0 on the successful completion of a phasing search
move or phasing absolute position read. If this bit is 1, the position/velocity servo loop cannot be closed
for this motor.
This bit is set to 1 if the phasing search move for a Turbo 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).
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
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 on finding the trigger (at the beginning of the post-trigger move section), 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
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 Ixx11 and Ixx63. 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
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
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
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
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 (Ixx11) or because it exceeded its integrated following error limit (Ixx63; in which
case bit 6 is also set). It is 0 at all other times, becoming 0 again when the motor is re-enabled.
Bit 1
case bit 6 is also set). It is 0 at all other times, becoming 0 again when the motor is re-enabled.
Bit 1
Warning Following Error: This bit is 1 if the following error for the motor exceeds its warning
following error limit (Ixx12). It stays at 1 if the motor is killed due to fatal following error. It is 0 at all