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C-16
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/O
description the term “Event” means Stop, E-Stop, or Abort. The status items reported are:
The buttons on the right of the window perform the following functions:
Dedicated I/O
The
Dedicated I/O
window displays the status of the dedicated inputs for limits, home, device
fault and in-position. The window also contains buttons to set the
amp enable
output to a high
or low state.
Figure C-11
The Configure/Axis Dedicated I/O Window
Item
Status
Displays the current condition of an axis in hex.
In Sequence?
Displays “Yes” if a set of frames describing a move is executing.
In Motion?
Displays “Yes” if command velocity is non-zero.
In Position?
Displays “Yes” if the position is within the in-position window.
Negative Direction?
Displays “Yes” if the command velocity is negative.
Frames Left?
Displays “Yes” if additional, unexecuted frames are still in buffer.
Axis Done?
Displays “Yes” if
In Motion?
is “No” and
In Position?
is “Yes.”
Source
Displays the source (host CPU, position limit, etc.) of a current event.
State
Displays current event on an axis.
Button
Clear
Reset all flags, clear stops and E-stops.
Idle
Set analog and step/direction outputs to zero, disables amp enable output and dis-
ables PID filter.
Run
Closes the loop, enables PID filter. Note that loop is closed internally (on-board)
for open-loop steps when Run mode is selected. Amp enable must be manually
enabled.
Stop
Decelerate at Stop rate.
E-stop
Decelerate at E-Stop rate.
Status
Set Amp Enable
output
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