Vacuum Robot Manual
4000-0315 Rev 1
67
Using the GLST Command
The Galil motion control board status is given in a 32-bit double word.
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 pre-aligner theta axis
12
13
14
15
Always 0
Position error on vertical axis of Indexer 1
Always 0
Position error on vertical axis of Indexer 2
16
17
18
19
Robot Theta axis idle
Robot R axis idle
Robot Z axis idle
Pre-aligner theta axis is idle
20
21
22
23
Always 0
Vertical axis of Indexer 1 is idle
Always 0
Vertical axis of Indexer 2 is idle
24
25
26
27
Servo off robot Theta axis
Servo off robot R axis
Servo off robot Z axis
Servo off on pre-aligner theta axis
28
29
30
31
Always 0
Servo off vertical axis of Indexer 1
Always 0
Servo off vertical axis of Indexer 2
To Next Page
Loading...
