U511 User’s Manual Parameters
Version 1.1 Aerotech, Inc. 4-67
4.9. Page 9: Fault Masks
The fault parameters are part of the UNIDEX 511’s error checking and safety system.
They are used to define the level at which error conditions are recognized and the
resultant actions that will occur. These parameters are explained in detail in this section.
4.9.1. Introduction to Fault Masks
Fault masks are used to define how an axis responds to a given error condition. Each axis
can respond to an error condition by performing one or more of the following tasks:
• “Disable” Disables axis amplifier and servo loop
• “Interrupt” Generates an internal hardware interrupt
• “AUX output” Sets/clears an output bit
• “Halt queue” Immediately stops trajectory generation
• “Abort motion” Decelerates axis to a stop
• “Enable brake” Activates the U511’s brake circuitry
• “Global fault mask” Enables/Disables detection of error conditions for all tasks
Each task has an associated mask (number) displayed in hexadecimal format. Each bit of
this mask corresponds to a possible error condition. Refer to Table 4-52. If the mask
bit is set to 1 and the error condition occurs, the task will execute. If the mask bit is set to
0, the task will not execute.
The “Global fault mask” determines which error conditions will be detected. Setting a bit
to 0 disables detection of the error condition for all tasks.
The UNIDEX 511 allows bitwise manipulation of these masks. It is not necessary to enter
these numbers in hexadecimal format. On the Fault Masks page, simply move the cursor
to the parameter you want to modify and hit
RETURN. The screen will be replaced by an
expanded representation of the fault mask that will let the user enter a 1 or a 0 for the
indicated error condition.
The UNIDEX 511 also contains a global emergency stop (E-Stop) task, which is linked to
an external opto-isolated input. Setting the emergency stop bit in any fault mask on any
axis to 1 enables this input. When E-Stop input occurs, all axes will disable and the
“emergency stop” message will be displayed. Driving the opto isolation on and pressing
the FLTACK key clears the condition.
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