Bosch 6000 User's Guide download pdf (Page 133)

118

6000 Series Programmer's Guide

Program in

Progress

(OUTFNCi-C)

When assigned the Program in Progress function, the output will activate when a program is

being executed. After the program is finished, the output's state is reversed. The action of

executing a program is also reported with system status bit 3 (see TSSF, TSS and SS

commands).

Limit

Encountered

(OUTFNCi-<a>D)

When assigned the Limit Encountered function, the output will activate when a hard or soft

end-of-travel limit has been encountered.

If a hard or soft limit is encountered, you will not be able to move the motor/load in that same

direction until you clear the limit by changing direction (D) and issuing a GO command. (An

alternative is to disable the limits with the LHØ command, but this is recommended only if

the motor is not coupled to the load.) The event of encountering an end-of-travel limit is also

reported with axis status bits 15-18 (see TASF, TAS and AS commands, summary on page

233).

Stall Indicator

(OUTFNCi-<a>E)

Steppers Only

(n/a to OEM-AT6400)

When assigned the Stall Indicator function, the output will activate when a stall is detected.

To detect a stall, you must first connect an encoder, enable the encoder step mode with the

ENC1 command, enable the position maintenance function with the EPM1 command, and

enable stall detection with the ESTALL1 command. Refer to Closed-Loop Stepper Setup on

page 95 for further discussion on stall detection.

Fault Output

(OUTFNCi-F)

When assigned the Fault Output function, the output will activate when either the user fault

input or the drive fault input becomes active.

The user fault input is a general-purpose input defined as a user fault input with the

INFNCi-F command (see page 112).

For the AT6n00, AT6n50, 625n, and 6200, the drive fault input is found on the DRIVE

connector, pin #5. Make sure the drive fault active level (DRFLVL) is appropriate for the drive

you are using, and the input functions are enabled (INFEN1). For the packaged

drive/controller products (e.g., 6104, 6152, 6201) the drive fault input is connected internally

and the default DRFLVL and INFEN1 command values are appropriate to the internal drive(s).

The drive fault input is not available on the OEM-AT6400.

Maximum

Position Error

Exceeded

(OUTFNCi-<a>G)

Servos Only

When assigned the Max. Position Error Exceeded function, the output will activate when the

maximum allowable position error, as defined with the SMPER command, is exceeded.

The position error (TPER) is defined as the difference between the commanded position (TPC)

and the actual position as measured by the feedback device (TFB). When the maximum

position error is exceeded (usually due to lagging load, instability, or loss of position

feedback), the controller shuts down the drive and sets error status bit #12 (reported by the

TERF, TER and ER commands if bit #12 of the ERROR command is enabled).

NOTE

If the SMPER command is set to zero (SMPERØ), the position error will not be monitored; thus,

the

Maximum Position Error Exceeded

function will not be usable.

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Bosch 6000 User's Guide Page 133

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