Parker Hannifin
Field Description Read/ Description
Write
Kill All Motion Request R/W When set, this flag will stop all motion, including
gear, cam, jog and master motion (Kill All Moves
Request), on the axis selected. All axes attached
to the same master as the selected axis will also
have all motion stopped.
This flag is automatically set by a Drive Fault
Input activation or a position error window
exceeded event if the Position Error On bit is set.
It can be manually set by the user to kill or
prevent motion.
To recover from this, clear this flag or issue a
DRIVE ON command. To make master motion
again all Kill All Motion Request flags must be
cleared for all axes attached to the master.
Otherwise the Kill all Move Request for the
master are set every 50 ms, stopping any
commanded master motion.
Enable Drive I/O R/W
When this flag is set (default) the DRIVE
commands function as stated. The drive must be
disabled to set or clear this flag.
When this flag is cleared the DRIVE ON/OFF
commands do not function and will generate the
error “Drive I/O Not Enabled.” The user must use
the I/O to enable and disable the drive when this
flag is cleared.
Enable EXC Response R/W The ACR controllers will always test for excess
position error, as defined by the EXC command
(Axis Parameters indices 0x20 and 0x21). When
Enable EXC Response is enabled (bit set to 1),
the controller will respond to excess position
error by killing all motion and disabling the drive.
If the bit is not set, position error will be
monitored, but not responded to. The default is
set to disabled (bit set to 0).
For more information, see the EXC command; or
Axis Parameters, indices 0x20 and 0x21.
DEO Serves Shutdown
Function
R/W When enabled (bit set to 1), the Drive Enable
Output Serves Shutdown Function reverses the
behavior of the Drive Enable Output bit.
Disable Drive on Kill R/W
Normally, CTRL-Z will kill motion and disable all
axes, and CTRL-X will only kill motion. If the
Disable Drive on Kill bit is set on an axis, then
CTRL-X will also disable that axis.
Drive Fault Input R This flag indicates the status of the drive fault
input. When this bit is set, the drive is telling the
controller it is faulted. If the Enable Drive I/O bit
is on, the controller will react to the drive fault
input by disabling the drive and setting the kill all
motion request flag for that axis.
If this bit is not set, then the drive is not faulted.
Drive Fault Input Response
Inhibit
R This flag is set during a period of time (50 to 100
ms) immediately after a DRIVE ON command is
issued. During this time the controller will not use
the drive fault input to determine if the axis is
faulted. This delay is required for drives that
delay turning off their fault output for a short time
after the drive enable is set.
Appendix D Drive I/O 121
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