Status word bit map (mdt, ssi, analog, resolver) – Delta RMC101 User Manual
Page 880
RMC100 and RMCWin User Manual
D-18
Open
Loop
bit
ON
(1)
(Bit
3)
Note:
When an axis is halted (Halt bit ON, State A bit OFF and State B bit OFF) then the integral
drive is automatically set to Null Drive and the Integrator stops updating. This is done so a Halt
command can be given to the axes when the hydraulic system is turned off or the valves are
disconnected so the module no longer can control the position. If the Integrator was allowed to
update, the integral drive could become quite large and cause the axis position to jump when the
hydraulic system was turned back on.
Bit 1 - Stopped
This bit is set when the actual speed for the axis—as computed and indicated by the Actual
Speed status register—drops below 50 position units per second. This bit is cleared when the
actual speed goes above 130 position units per second. The Stopped bit is not latched. Refer to
the Actual Speed topic for details on how this value is computed. This bit can be used as an axis
obstruction indication without having to monitor the Actual Speed register.
Bit 0 - In Position
This bit will be set when the difference between the Actual Position and Command Position is
less than the value in the In Position field and the target generator is in a closed-loop stopped
state. The axis must be in a closed-loop stopped state, which includes the following situations:
• At the end of a point-to-point move, such as those invoked by the Relative Move (J and j), Go (G
and g, except for speed control and gearing), Move Relative to an Axis (0xC0-0xCF), and Sine
Move (~) commands.
• When an axis follows a spline to the end following a Follow Spline (f) command.
• When the axis is stopped explicitly using a Set Parameters (P) or Reset Position (q) command.
• When the Target Speed reaches zero (0) after a speed control Go (G or g) command with a
requested speed of zero.
• When the Target Position stops after a closed loop halt (caused by an Auto Stop or the Halt (H)
command). Notice that the Command Position does not change in either of these cases, and
therefore, unlike the above cases, the Target Position may not match the Command Position.
This bit is not latched. It will clear when the Actual Position moves outside the In Position window,
or a command is issued that brings the axis out of the closed-loop stopped state.
Note:
The control program can monitor this bit to determine when an axis has arrived at the
commanded position or if the axis is holding position when a load is applied.
D.2.6 Status Word Bit Map (MDT, SSI, Analog, Resolver)
The axis Status word contains 16 bits of information about the status of the axis. The
hexadecimal table below provides an easy way to convert hexadecimal numbers to bit patterns.