TA |
Syntax: | Implicit Only |
| Operands: | _TA0,_TA1,_TA2,_TA3 | |
| Burn: | not burnable | |
Tell Amplifier error status | Hardware: | DMC40x0 DMC41x3 DMC21x3 DMC300x0 |
The command returns the amplifier error status. The value is decimal and represents an 8 bit value. Bit 7 is most significant bit, 0 is least.
| TA0 | TA1 | TA2 | TA3 | ||
|---|---|---|---|---|---|
| BIT #: | STATUS: | STATUS: | STATUS: | STATUS: | BIT # |
| 7 | Under Voltage (E-H Axes) ) ** | Hall Error H Axis * | Peak Current H Axis | 0 | 7 |
| 6 | Over Temperature (E-H Axes) ** | Hall Error G Axis * | Peak Current G Axis | 0 | 6 |
| 5 | Over Voltage (E-H Axes) ) * | Hall Error F Axis * | Peak Current F Axis | 0 | 5 |
| 4 | Over Current (E-H Axes) ) *** | Hall Error E Axis * | Peak Current EAxis | 0 | 4 |
| 3 | Under Voltage (A-D Axes) ** | Hall Error D Axis * | Peak Current DAxis | 0 | 3 |
| 2 | Over Temperature (A-D Axes) * | Hall Error C Axis * | Peak Current CAxis | 0 | 2 |
| 1 | Over Voltage (A-D Axes) * | Hall Error B Axis * | Peak Current B Axis | ELO Active (E-H Axes) **** | 1 |
| 0 | Over Current (A-D Axes) *** | Hall Error A Axis * | Peak Current A Axis | ELO Active (A-D Axes) **** | 0 |
* Valid for AMP-43040 (-D3040)
** Valid for AMP-43040 (-D3040) & SDM-44140 (-D4140)
*** Valid for AMP-43040 (-D3040) & Valid for SDM-44140 (-D4140) & Valid for SDM-44040 (-D4040)
**** Valid for AMP-43040 (-D3040) & Valid for AMP-43140 (-D3140) & Valid for SDM-44140 (-D4140) & Valid for SDM-44040 (-D4040)
Hint: If your Brushed-type servo motor is disabling and TA1 shows a hall error, try using the BR command to set that axis as a Brushed axis, causing the controller to ignore invalid Hall states.
returns the amplifier error status where n is 0,1,2, or 3
_TAm Contains the Amplifier error status. m = 0,1,2, or 3
| Usage | Value |
|---|---|
| While Moving | Yes |
| In a Program | Yes |
| Command Line | Yes |
| Controller Usage | DMC-40x0 with -D30x0, -D4040, -D4140; DMC-21x3 with AMP-204x0, AMP-205x0, or SDM 206x0 |
| Default Value | N/A |
| Default Format | 1.0 |
#AMPERR - Amplifier Error Automatic Subroutine
BR - Brush Axis Configuration
QH - Hall State
TA1 :5 Hall Error for Axis A and C