Applied Motion RS-232 - Manual (Page 232)

232 920-0002 Rev. I
2/2013
Host Command Reference
SVAC3, STAC5
The bit pattern of the “i” register breaks down as follows: bits 0-3 represent inputs X1-X4, respectively;
bits 8 and 9 represent outputs Y1 and Y2, and bit 14 represents the encoder index channel (if present).
represents the STEP input, bit 2 the DIR input, and bit 3 the EN input. Bit 8 represents the drive’s single
output, OUT. For bits 0-3 and 14 (X1-X4 and the Index), a state of “1” means the optically isolated input is
open, and a state of “0” means the input is closed.
j Analog Input 1 (IA1) 058 Short
raw ADC counts, 0 - 32760
16383 = 0 volts for BLu, SV,
STAC6, ST-Q/Si drives
All drives
k Analog Input 2 (IA2) 059 Short
raw ADC counts, 0 - 32760
16383 = 0 volts BLu, SV, STAC6,
ST-Q/Si only
l Immediate Absolute Position 060 Long
Encoder counts (servo), or
motor steps (stepper).
All drives
m Command Mode (CM) 061 Short Mode # All drives
n Velocity Move State 062 Short State # (see below) All drives
Response details to the “RLn” command:
Description
Decimal Value Comment
WAITING 0 In velocity mode waiting for a command
RUNNING 1 Doing a velocity move (jogging)
FAST STOPPING 2 Stopping a velocity move (ST or SK with no parameter)
STOPPING 3 Stopping a velocity move (SJ, STD, or SKD)
ENDING 4 Clean up at end of move (1 PWM cycle, 62 usec)
o Point-to-Point Move State 063 Short State # (see below) All drives
NOTE: The Point-to-Point Move State is only defined during FL, FP, and FS commands.
Details when using “RLo” command:
Description
Decimal Value Comment
WAITING 0 In position mode waiting for command
WAITING ON BRAKE 1 Waiting for brake to release
CALCULATING 2 Doing the calculations for the move
ACCELERATION 3 Accelerating up to speed
CHANGE VELOCITY 4 Changing the speed (accel or decel)
AT_VELOCITY 5 At the desired speed
DECELERATION 6 Decelerating to a stop
FAST DECELERATION 7 Doing a fast deceleration (ST or SK)
POSITIONING 8 Clean up at end of move (1 PWM cycle, 62 usec)
p Segment Number 064 Short Segment # 1 - 12 Q drives only
q Actual Motor Current (IQ) 065 Short 0.01 Amps Servo drives only
r Average Clamp Power 066 Short Watts BLuAC5, STAC6