Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC On-line Command Specification 286
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 (Ixx11). 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 (Ixx12). 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 Ixx28 in-position
bands, and the above conditions must have been satisfied for (Ixx88+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 Isx13 > 0).
Bit 13 Synchronous M-variable One-Shot: (for internal use)
Bit 12 Dwell Move Buffered: (for internal use)
Tenth character returned:
Bit 11 Cutter Comp Outside Corner: This bit is 1 when the coordinate system is executing an added
outside corner move with cutter compensation on. It is 0 otherwise.
Bit 10 Cutter Comp Move Stop Request: This bit is 1 when the coordinate system is executing moves
with cutter compensation enabled, and has been asked to stop move execution. This is primarily for
internal use.
Bit 9 Cutter Comp Move Buffered: This bit is 1 when the coordinate system is executing moves with
cutter compensation enabled, and the next move has been calculated and buffered. This is primarily for
internal use.
Bit 8 Cutter Comp Move Executing: This bit is 1 when the coordinate system is executing a move
with cutter compensation on. It is 0 otherwise.
Eleventh character returned:
Bit 7 Segmented Move in Progress: This bit is 1 when the coordinate system is executing motion
program moves in segmentation mode (Isx13>0). It is 0 otherwise. This is primarily for internal use.
Bit 6 Segmented Move Acceleration: This bit is 1 when the coordinate system is executing motion
program moves in segmentation mode (Isx13>0) and accelerating from a stop. It is 0 otherwise. This is
primarily for internal use.
Bit 5 Segmented Move Stop Request: This bit is 1 when the coordinate system is executing motion
program move in segmentation mode (Isx13>0) and it is decelerating to a stop. It is 0 otherwise. This is
primarily for internal use.
Bit 4 PVT/SPLINE Move Mode: This bit is 1 if this coordinate system is in either PVT move mode or
SPLINE move mode. (If bit 0 of this word is 0, this means PVT mode; if bit 0 is 1, this means SPLINE