Bosch 6000 User's Guide download pdf (Page 58)

Chapter 2. Communication

PC-AT Bus Communication Registers

Address (defaults in parenthesis) Function

Base, Base+1

Base (300h).............................................

Base+1 (301h)........................................

Read/write data to/from controller

Write = Send data to controller (HB)

Read = Receive data from controller (HB)

Write = Send data to controller (LB)

Read = Receive data from controller (LB)

Base+2, Base+3 (302h,303h)

Base+2....................................................

Base+3 (303h)........................................

Read/Write Fast Status area

Write = Set fast status pointer

Read = Fast status byte

Write =

reserved

Read = Fast status byte

Base+4

Base+4 (304h)........................................

Controller Status

Write = Set/clear status to controller

Read = Read status from controller

Base+5, Base+6, Base+7

Reserved

Fast Status Register (Base+2, Base+3)

TIP:

The DOS support disk that

ships with your product

contains sample programs

(see

SAMPLES

sub-

directory) that access the

data in the fast status

registers (see table on

previous page).

A fast status register is available to read various controller status data. The fast status register

occupies two bytes and is addressed two locations above the base address. For example, if the

base address is at 300 Hex (768 decimal), the fast status register is at 302 Hex & 303 Hex

(770 & 771 decimal).

The fast status register differs between stepper products and servo products. Each has eight

2-bytes blocks, but with differing information (see tables below). Another difference is that

you may customize blocks 7 & 8 on stepper products, and blocks 3-8 on servo products (refer

to Customizing the Fast Status Register, page 48, for details).

Fast Status, Steppers

HEX Offset in

Fast Status Area

Description Size

Block 1

Motor Position (steps) Axis 1 – see TPM

Axis 2

Axis 3

Axis 4

2 words

Block 2

Encoder Position (counts) Axis 1 – see TPE

Axis 2

Axis 3

Axis 4

2 words

Block 3

Velocity (steps/sec) Axis 1 – see TVEL

Axis 2

Axis 3

Axis 4

2 words

Block 4

Axis Status Information Axis 1 – see TAS

Axis 2

Axis 3

Axis 4

2 words

* Limits Bit Assignments:

Ø = axis 1 positive hard limit

1 = axis 1 negative hard limit

2 = axis 2 positive hard limit

3 = axis 2 negative hard limit

4 = axis 3 positive hard limit

Block 5

Input Status for 28 inputs (bits 0-27) – see TIN

Output Status for 24 outputs (bits 0-23) – see TOUT

Limits – see side note for

Limits Bit Assignments

Other Input Status – see TINO

Analog Voltage, channel 4,3,2,1 – see TANV

2 words

1 word

2 words

5 = axis 3 negative hard limit

6 = axis 4 positive hard limit

7 = axis 4 negative hard limit

8 = axis 1 home limit

9 = axis 2 home limit

10 = axis 3 home limit

11 = axis 4 home limit

Block 6

Interrupt Status – see TINT

System Status – see TSS

User Status – see TUS

Time Frame Mark (2ms timer, starts on computer powerup)*

Programmable Timer Value – see TIMST

2 words

1 word

2 words

These bits report the current

state of the input — not

necessarily whether a hardware

limit has been encountered.

Block 7

Motor position captured with trigger A, axis 1 – see TPCMA

Motor position captured with trigger A, axis 2

Motor position captured with trigger A, axis 3

Motor position captured with trigger A, axis 4

2 words

Block 8

Motor position captured with trigger B, axis 1 – see TPCMB

Motor position captured with trigger B, axis 2

Motor position captured with trigger B, axis 3

Motor position captured with trigger B, axis 4

2 words

* Timer starts on computer powerup; rolls over; updated once 2 msec update.

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Bosch 6000 User's Guide Page 58

Comments to this Manuals

Bosch 6000 User's Guide Page 58

Comments to this Manuals

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