Validity: Rule, Task
This variable identifies the crash alarm enable mask(codes 14(lower) and 15(upper)) for single axes.
Syntax |
I32 cam |
|---|---|
Attributes |
Bit-accessible |
At switch on, no crash alarm is enabled (cam = 0). To enable a crash alarm, the desired cam bit will need to be set to 1.
The variables min_str and max_str will also need to be set.
If you have a crash alarm enabled, RTE performs the following operations:
•Imposing ip has restriction to not go out of the electronic end of strokes min_str or max_str (or not to go further if already outside the end of strokes)
•Imposing iv or ia has alarm generation 14#nn Lower E.E.O.S reached crash if the quota exits the electronic minor end of strokes, or 15#nn Upper E.E.O.S reached if the quota exits the electronic major end of strokes
•Limitation of targets within electronic end of strokes in all motion functions in which the axis is explicitly declared i.e., motion instructions beginning with the prefix MVA_
•Using the MVA_OPEN_LOOP function such alarm is disabled (as long as it is active)
Example
; crash alarm is enabled for the first axis cam.0 = 1 ; crash alarm enable for axes 5 to 10 is added cam = cam r_or 0x3F0 ; If bit 31 of the cam variable is equal to 1 ; it means that the crash alarm for axis 32 is enabled ; then in the string sr(1) is stored ; the string "crash alarm axis 32 enabled" _if(cam.31) sr(1) = "crash alarm axis 32 enabled" |
