Validity: Rule, Task
This variable contains the mask of the axes whose position error is less than the value contained in the predefined variable POS_THR.
Syntax |
I32 ax_in_pos |
|---|---|
Attributes |
Bit-accessible. Read only |
The axis is in position if the corresponding bit is in 1.
NOTE: To determine if the axis is in position, RTE performs the following comparison: (abs(EPOS(n)) <= pos_thr(n)).
Example
; If bit 31 of the variable ax_in_pos is equal to 1 ; it means that ax 32 is in position ; then in the string register sr(1) will be stored ; the string "axis 32 is in position" _if (ax_in_pos.31) sr(1) = "axis 32 is in position" |
