Optima DMC-1xxx and DMC-18x2 Command Reference
ER
i
84
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). If the
Off On Error (OE1) command is active, the motors will be disabled.
ARGUMENTS: ER n,n,n,n,n,n,n,n or
ERA=n where
n is an unsigned numbers in the range 1 to 32767 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:
"OE "
Off-On Error
#POSERR Automatic
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
00200,00100,00400,006
00
ER ?
Return A value
00200
V1=_ERA
Assigns V1 value of ERA
V1= Returns
V1
00200
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.
