Axis amplifiers

The ZY allows the axis amplifiers to be controlled through software commands as well as the Auto/Manual front panel switch. The ZY's client can check the state of the axis amplifiers by looking at the ZY status word (see STW) and turn them on or off using a software command (see AXIS). When the amplifiers are shut down, the LM628 will no longer be able to control the servo motors. The signal from the LM628 to the axis amplifier will go to $\pm$10 Volts, and if the error between the desired position and the actual encoder count exceeds a preset amount on the LM628, the LM628 will shut down motor control. This condition will show up as a bit set on the LM628 status word (see AXS).