Download User`s Manual - Automation Modules, Inc.

Automation Modules, Incorporated
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Command:
aTT
S200 Technical Reference Manual
operating in (voltage) torque mode.
Current Mode. A “1” in this bit position indicates that the servo is
currently operating in (current) torque mode).
Reserved.
Electronic Gearing Mode. A “1” in this bit position indicates that the
servo is currently operating in electronic gearing mode.
Reserved.
Limit Mode Abort. Used by Limit Mode (LM) to determine what action to
take upon the occurrence of a limit switch event.
Limit Mode Stop. Used by Limit Mode (LM) to determine what action to
take upon the occurrence of a limit switch event.
Limit- Tripped. A “1” in this bit position indicates that a Limit- input event
has occurred and has been acted upon as set by the Limit Mode (LM)
command.
Limit- Enabled. A “1” in this bit position indicates that the Limit- input has
been enabled for action via the Limit Mode (LM) command.
Limit- Active. A “1” in this bit position indicates that the Limit- input is
currently active.
Limit+ Tripped. A “1” in this bit position indicates that a Limit+ input
event has occurred and has been acted upon as set by the Limit Mode
(LM) command.
Limit+ Enabled. A “1” in this bit position indicates that the Limit+ input
has been enabled for action via the Limit Mode (LM) command.
Limit+ Active. A “1” in this bit position indicates that the Limit+ input is
currently active.
-- Tell Target Position --
This command reports the current target position of servo axis 'a'. This is the absolute position to
which the servo was last commanded to move. It may have been specified directly with the Move to
Position (MP) or Move Absolute (MA) commands or indirectly with the Move Relative (MR) command. If
the servo axis is in Velocity Mode (VM), then the target position will track the current optimal position (or
that which is reported by the Tell Optimal (TO) command).
Related Commands: TO, TP
Command:
aTV
-- Tell Current Velocity --
This command reports the trajectory generator current velocity for servo axis 'a'. The value
reported has the same units as the Set Velocity (SV) command. See the description of that command for
further details.
Related Commands: SV, SS
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