Delta MMC120 User Manual download pdf (Page 126)

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a 16-bit number. See Valid 16-bit Positions for details on this limitation. This bit is also

set if—when recirculations are used—TRANSDUCER COUNTS is calculated to less

than zero. ACTUAL POSITION will be displayed as 65535 in the overflow case, and as

zero (0) in the underflow case. It causes either an Open Loop ramp down (Soft Stop), or

a Hard Stop, depending on the setting of AUTO STOP bits 2 and 10. This bit will stay

on until a new command is given to the axis.

To recover from this error condition you must move the axis, either manually or with an

Open Loop Command,untiltheACTUAL POSITION becomes valid again.

This error occurs for one of two reasons:

1. The overflow case (Actual Position displayed as 65535) happens because the

transducer is longer than can be accommodated by the 16 bit Actual Position Field

given the scaling of the transducer counts. To fix this, you can either reduce the

SCALE parameter; increase the Prescale Divisor in the CONFIGURATION Word;

or, if you are using a PWM type transducer, increase the number of recirculations

specified in the CONFIGURATION Word (without increasing the number of

recirculations in the transducer).

2. The Underflow case (Actual Position displayed as 0) happens because the number

of recirculations specified in the CONFIGURATION Word is too large. To fix

this, decrease the number of recirculations specified in the Configuration Word

(without increasing the number of recirculations in the transducer).

Bit7-IntegratorWindup

This bit is set when the integrator value is larger than 20% or 80%, depending on the

setting of the Integrator bit in the Configuration word. It causes no action, a Soft Stop, or

a Hard Stop, depending on the setting of AUTO STOP bits 7 and 15. This bit will stay

on until a new command is given to the axis.

Bit 8 - Following Error

This bit is set when the difference between the TARGET POSITION and the ACTUAL

POSITION is greater than the MAXIMUM ERROR parameter. It causes no action, a

Soft Stop, or a Hard Stop, depending on the setting of AUTO STOP bits 8 and 16. This

bit will stay on until a new command is given to the axis.

Bit9-Acknowledge

This bit will toggle after the motion controller receives a valid command or Status Area

Request. This can be used to verify that the motion controller has received the command.

Bit 10 - Initialized

This bit is set after a Set Parameter ('P') command is successfully executed. Until this bit

is set, the axis will not respond to any GO ('G') commands. This bit is cleared whenever

the module is reset.

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Delta MMC120 User Manual Page 126