ADLINK AMP-208C - Manual (Page 163)

Motion Control Theory 149
AMP-204C / AMP-208C
Table 4-4: Motion kernel signal table
Signal name Range
Data
type
Descriptions
SAMP_SRC_COM_POS Axis 0~7 Integer
Position command:
Unit: pulse
SAMP_SRC_FBK_POS Axis 0~7 Integer
Feedback position
Unit: pulse
SAMP_SRC_CMD_VEL Axis 0~7 Integer
Command velocity;
Unit: pulse/sec
SAMP_SRC_FBK_VEL Axis 0~7 Integer
Feedback velocity;
Unit: pulse/sec
SAMP_SRC_MIO Axis 0~7 Integer Motion I/O, see Note 1 for its definition.
SAMP_SRC_MSTS Axis 0~7 Integer
Motion status, see Note 2 for its
definition.
SAMP_SRC_MSTS_ACC Axis 0~7 Integer
Motion status: Acceleration section
(motion status acc); 0: Null acceleration
1: Current acceleration
SAMP_SRC_MSTS_MV Axis 0~7 Integer
Motion status: Constant speed section
(motion status at max velocity); 0: No
constant speed 1: Current constant
speed
SAMP_SRC_MSTS_DEC Axis 0~7 Integer
Motion status: Deceleration section
(motion status DEC); 0: Null
deceleration 1: Current deceleration
SAMP_SRC_MSTS_CSTP Axis 0~7 Integer
Motion status: The Stop motion
command (motion status CSTP); 0:
During movement 1: Stop the movement
command
SAMP_SRC_MSTS_MDN Axis 0~7 Integer
Motion status: Movement completed
(motion status MDN); 0: During
movement 1: Movement completed
SAMP_SRC_MIO_INP Axis 0~7 Integer
Motion status: Movement in-place
(motion status MDN); 0: Movement not
in-place 1: Movement in-place
SAMP_SRC_MIO_ORG Axis 0~7 Integer
Motion status: ORG signal (motion
status OGR); 0: No ORG signal 1:
Touches ORG signal
SAMP_SRC_CONTROL_VOL Axis 0~7 Integer
Output voltage (Control command
voltage);
Unit: mV
SAMP_GTY_DEVIATION Axis 0~7 Integer
Set up feedback offset (gantry deviation)
between given and slave axes in gantry
movement; Unit: pulse
SAMP_SRC_ENCODER_RAW Axis 0~7 Integer
Drive's feedback position original signal
(Encoder raw data) ;
Unit: pulse
SAMP_SRC_ERR_POS Axis 0~7 Integer Error position; Unit: pulse
SAMP_SRC_COM_POS_F64 Axis 0~7 Double
Same as SAMP_SRC_COM_POS but
presented in float point numbers