IAI America XSEL-S - Manual (Page 140)

Chapter 3 Programs
132
3.3.7 Extension Motion Control Board Axis Status Commands
z XAST (extension motion control board axis status acquisition)
Command, declaration Extension
condition
(LD, A, O, AB, OB)
Input condition
(I/O/flag)
Command,
declaration
Operand 1 Operand 2
Output part
operation type
(output/flag)
E N, Cnd Cmnd Operand1 Operand2 Pst
Optional Optional XAST Variable No. Axis No. CP
[Function] Read axis status (*1) specified in operand 2 to a variable specified in operand 1.
*1 Status signal
Bit structure of axis status
Bit Description
27-31 Reserved
26
Axis alarm (error detected by X-SEL)
(Note) As the axis alarm conditions, in addition to the XSEL’s extension motion control board
related errors, the “Continuation impossible alarm generation” (error detected by the
slave controller) is included.
25 Axes being used
24 Reserved
14-23 Reserved
13 Reserved
12 Reserved
11 Reserved
10 Reserved
9 Safety speed valid status (X-SEL safety status valid)
8 Reserved
7 Reserved
6 Reserved
5 Reserved
4 Servo On status
3 Reserved
2
Home return completion
* The bit is turned ON when the XSEL controller home return command is completed and the
slave driver’s home return completion status is turned ON.
1
Position complete
(Note) The bit is turned ON when the XSEL controller’s operation command is completed, and
the slave driver’s positioning completion status is turned ON.
0 Continuation impossible alarm generation (error generated by pulse train driver)
[Example] XAST 200 10 Acquire the status of axis No. 10 to variable 200.