DMC-18x6 Command Reference
146
OA
FUNCTION: Off on encoder failure
DESCRIPTION:
Turns on or off encoder failure detection. The controller can detect a failure on either or both
channels of the encoder. This is accomplished by checking on whether motion of at least 4
counts is detected whenever the torque exceeds a preset level (OV) for a specified time (OT).
Note that for this function to work properly it is necessary to have a non-zero value for KI.
The OA command works like the OE command: if OA is set to 1 and an encoder failure occurs,
the axis goes into the motor off (MO) state and the stop code (SC) is set to 12.
ARGUMENTS: OAn,n,n,n,n,n,n,n where
n is 0 or 1 with 1 enabling this feature.
? returns the last value set
USAGE: DEFAULTS:
While Moving
Yes
Default Value
0
In a Program
Yes
Default Format
1.0
Command Line
Yes
Controller Usage
ALL CONTROLLERS
OPERAND USAGE:
_OAn contains the OA value for the specified axis.
RELATED COMMANDS:
Off on encoder failure time
Off on encoder failure voltage
EXAMPLES:
OTX=10
Set time to 10 milliseconds
OVX=5
Set voltage to 5
OAX=1 Enable
encoder
detection feature
