December 2001 The Control Loop 6 – 145
Module 9161 Enabling the drive controller
With this module you can switch the drive controllers (speed and current
controllers) on and off for specific axes. A nominal speed value is also output
when the drive controller is not enabled.
Call:
PS W/D/K <Released axes>
Bit: 15 876543210
Axis: S xxxx 987654321
0: No drive controller enabling
1: Drive controller enabling
CM 9161
Error recognition:
Module 9162 Status request of the drive controller
Call:
CM 9162
PL B/W/D <Drive is ready>
Bit 15 0
Axis Sxxxxxx987654321
0: Not ready
1: Ready
Module 9169 Axes for which I32 does not switch off the drives
This module functions only on the TNC 426 M/TNC 430 M controls.
Call:
PS
B/W/D/K
<Axes bit-encoded>
CM 9169
Marker Value Meaning
M4203 0 No error
1 Control has no current controller, or the call is in a
spawn or submit job
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