Rockwell Automation GMLC Reference Manual - Manual (Page 346)

Publication GMLC-5.2 - November 1999
On Axis 309
Locked
An axis is locked whenever either of the following two sets of conditions
are true:
• Feedback on, electronic gearing off and no position-lock cam or
interpolated motion in progress:
• No motion (Home, Move, Jog, or Time-Lock Cam) in progress.
• No axis faults (drive fault, position error, encoder noise or loss,
hardware or software overtravel fault) exists.
• The output voltage of the axis is not being limited to the servo
output limit parameter (Servo Output Limited).
• Position error is less than or equal to position lock tolerance.
• Feedback on, electronic gearing on or position-lock cam or
interpolated motion in progress:
• No motion (Home, Move, Jog, or Time-Lock Cam) in progress.
• No axis faults (drive fault, position error, encoder noise or loss,
hardware or software overtravel fault) exits.
• The output voltage of the axis is not being limited to the servo
output limit parameter (Servo Output Limited).
• Position error is less that or equal to position lock tolerance.
When you select Locked in: The:
Wait for Axis mode Current task pauses until the selected physical axis is
locked onto its command position (Lock_status = 1).
If Axis mode Program branches to the top (true) node if the selected
physical axis is locked onto its command position
(Lock_status = 1).