Galil Motion Control manc 18x 6 Page 166
DMC-18x6 Command Reference
158
#POSERR
FUNCTION: Position error automatic subroutine
DESCRIPTION:
The factory default behavior of the Galil controller upon a position error (TE > ER) is to do
nothing more than turn on the red light. If OE is set to 1, the motor whose position error ER
was exceeded will be turned off MO. #POSERR can be used if the programmer wishes to run
code upon a position error (for example to notify a host computer).
The #POSERR label causes the statements following to be automatically executed if error on any
axis exceeds the error limit specified by ER. The error routine must be closed with the RE
command. The RE command returns from the error subroutine to the main program.
USAGE:
While Moving
Yes
In a Program
Yes
Command Line
No
Controller Usage
ALL
RELATED COMMANDS:
Off on error
error
limit
EXAMPLES:
#A
;
'"Dummy" program
JP
#A
#POSERR
;
'Position error routine
MG
"TE > ER"
;
'Send message
RE
1 ;
'Return to main program
NOTE: The automatic subroutine runs in thread 0.
NOTE
: Use RE to end the routine
