Strasbaugh nTellect 7AF - Using the GLST Command

Atmospheric Pre-aligner Manual
4000-0015 Rev 1
57
Using the GLST Command
The Galil motion control board status is given in a 32-bit double word.
For a four-axis system, bits 12 to 15, 20 to 23, and 28 to 31 are zeros.
Bit Meaning when set to 1
0
1
2
3
Write or read time out
Responds with the "?" prompt
Board is in debug mode
Galil command error
4
5-7
Integrator output exceeds torque limit (TL)
Always 0
8
9
10
11
Position error on robot theta axis
Position error on robot R-axis
Position error on robot Z-axis
Position error on or track t axis in four-axis system
12
13
14
15
Position error on pre-aligner theta axis
Position error on pre-aligner R-axis
Position error on pre-aligner Z-axis
Position error on or track w in eight-axis system
16
17
18
19
Robot theta axis idle
Robot R-axis idle
Robot Z-axis idle
Track t axis in four-axis system is idle
20
21
22
23
Pre-aligner theta axis idle
Pre-aligner R-axis idle
Pre-aligner Z-axis idle
Track w in eight-axis system is idle
24
25
26
27
Servo off robot theta axis
Servo off robot R-axis
Servo off robot Z-axis
Servo off on track t axis in four-axis system
28
29
30
31
Servo off pre-aligner theta axis
Servo off pre-aligner R-axis
Servo off pre-aligner Z-axis
Servo off on track w in eight-axis system