GANTRY.STATE
Description
| State | |
|---|---|
| GANTRY.STATE 0 | Each axis is individually controlled. |
| GANTRY.STATE 1 | Gantry is pending successful homing. |
| GANTRY.STATE 2 | Gantry Mode is pending successful re-homing. |
| GANTRY.STATE 3 | Gantry Mode is active, issue commands on Axis 1. |
By default, a dual axis drive is configured for each axis to be individually controlled. In this mode, GANTRY.STATE = 0.
When an axis is put into Gantry Mode (AXIS#.CMDSOURCE = 4), the Gantry is configured but full gantry mode cannot occur until both axes have been homed. In this mode GANTRY.STATE = 1. Amp Enable is now controlled through Axis 1, but both axes are running their own trajectories until both axes have been successfully homed.
As soon as both axes have been successfully homed, GANTRY.STATE will be 2 indicating Gantry mode is active and now all motion is controlled through Axis 1 under a single trajectory generator.
If any axis has its home offset cleared (AXIS#.HOME.CLEAR) homing will need to be completed for both axes again.
Versions
| Action | Version | Notes |
|---|---|---|
| Implemented | 02-02-02-000 |
General Information
| Type | Read Only |
| Description | Reads Gantry status |
| Units | N/A |
| Range | 0-2 |
| Default Type | 0 |
| Data Type | Integer |
| Stored in Non-Volatile Memory | No |
Variants Supported
All variants are supported.
Fieldbus Information
|
Command |
Index |
SubIndex |
Data Type |
Units |
Float Scale |
Access |
PDO Mappable |
|---|---|---|---|---|---|---|---|
|
GANTRY.STATE |
300eh |
05h |
Unsigned8 |
- |
- |
Read only |
No |
|
ID |
Instance |
Attribute |
Name |
Data Type |
Access |
User Mappable |
|---|---|---|---|---|---|---|
|
3003 |
1 |
3003 (0xbbb) |
GANTRY.STATE |
Unsigned8 |
Read Only |
Yes |
|
Parameter |
PNU |
Data Type |
Access |
Units |
|---|---|---|---|---|
|
GANTRY.STATE |
3003 |
Unsigned8 |
Read Only |
- |
