Software for the synchronization of axes - Kollmorgen

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SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.A6.3 STATUS MASKSThe bits of variables STATC and STATD may be used to automatically start one of theemergency procedures described below. The masks are the parameters matching theseprocedures to each bit.In determining the value of the masks, it is necessary to recall that the STATC and STATDbytes are collected in the form of only one word. Bits 0 to 7 correspond to STATD, and bits 8to 15 correspond to bits 0 to 7 of STATC (see Figure 6.1).For every mask, a logical "AND" combination is executed bit to bit. If the result is not zero,the corresponding procedure is started.Example :If bit 7 of the mask is "1", any excessive motor temperature (bit 7 ofSTATD) starts the desired procedure. If the bit is "0", the motortemperature does not have any effect.Three masks are available, each one corresponding to a specific procedure :- CMASKU selects those bits which, when they are "1", cause a disabling of the powerstage (no current to the motor).Address :124 (hexa : 7C).Default value : 128 (hexa : 80)- CMASKA selects those bits which, when they are "1", produce a controlleddeceleration of the motor, that means a "STOP" (reference speed of the motor atzero). This mask is only active in software versions which support point to point moveor the speed control by serial communication.With the LIO link board and software versions including sequencer functions, thisCMASKA status initiates no STOP. It opens instead the output OUT7. Seecorresponding manual.Address :125 (hexa : 7D).Default value : 0.- CMASKS selects those bits which, in case of a change of status, set bit 6 of STATA to"1". Thus, in case of a serial communication, the command host is quickly informedabout the occurrence of a change. The host can then inquire about the new status ofthe variables STATC and STATD.Address :Default value :126 (hexa : 7E).61,680 (hexa : F0F0).As the boot program is running, only CMASKS (with its default value) mask is active.30
SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.A6.4 RESET OF STATUS BITSThe latched bits are automatically set to "0" at powering up and after the microprocessor hasbeen reset (with the exception of bit 1 of STATD, which is set to "1"). They only return to "1"if the corresponding fault is detected.The serial link or the sequencer function, if available, make it possible to reset all status bitsusing one of the RESSTS, PWRRES, PWRONS, PWRONI or PWRONR instructions. Seealso the corresponding paragraphs of chapter 10.As the boot program is running, only instruction RESSTS is available for resetting the statusbits.31
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Software for the synchronization of axes - Kollmorgen

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