Galil Motion Control optcom Page 163
Optima DMC-1xxx and DMC-18x2 Command Reference
#POSERR
i
152
#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:
OE
Off on error
TE
Tell
error
ER
Error
limit
EXAMPLES:
#A ;'"Dummy" program
JP #A
#POSERR ;'Position error routine
MG "TE > ER" ;'Send message
RE1 ;'Return to main program
NOTE: An application program must be executing for the automatic subroutine to function, which
runs in thread 0.
NOTE: Use RE to end the routine
