DMC-18x6 Command Reference
85
ER
FUNCTION: Error Limit
DESCRIPTION:
The ER command sets the magnitude of the position errors for each axis that will trigger an error
condition. When the limit is exceeded, the Error output will go low (true) and the controller's
red light will be turned on. If the Off On Error (OE1) command is active, the motors will be
disabled. For debugging purposes, ER0 and ER-1 can be used to turn the red LED on and off.
ARGUMENTS: ER n,n,n,n,n,n,n,n or
ERA=n where
n is an unsigned number in the range 1 to 2147483647 which represents the error limit in encoder
counts. A value of -1 will disable the position error limit for the specified axis.
n = ? Returns the value of the Error limit for the specified axis.
USAGE: DEFAULTS:
While Moving
Yes
Default Value
16384
In a Program
Yes
Default Format
Position Format
Command Line
Yes
Controller Usage
ALL CONTROLLERS
OPERAND USAGE:
_ERn contains the value of the Error limit for the specified axis.
RELATED COMMANDS:
Off-On Error
Error
Subroutine
EXAMPLES:
ER 200,300,400,600
Set the A-axis error limit to 200, the B-axis error limit to 300, the C-axis
error limit to 400, and the D-axis error limit to 600.
ER ,1000
Sets the B-axis error limit to 1000, leave the A-axis error limit unchanged.
ER ?,?,?,?
Return A,B,C and D values
200, 100, 400, 600
ER ?
Return A value
200
V1=_ERA
Assigns V1 value of ERA
V1= Returns
V1
200
Hint: The error limit specified by ER should be high enough as not to be reached during normal
operation. Examples of exceeding the error limit would be a mechanical jam, or a fault in a system
component such as encoder or amplifier.
