The Commander core can be set up to send an ERC (deflection counter clear) signal to clear any external errors from the servo drive. The ERC signal is configured with the following commands:

ERC[axis] command is 2-bit and sets the output condition of the ERC signal.  The ERC[axis] command can write a new condition or read the condition based on the chart below.

Bit

Condition for Output

Setting

0

Error Stop

0: Disabled (Not used)     1: Enabled (Used)

1

Homing operation complete

0: Disabled (Not used)     1: Enabled (Used)

ERC command


ERCD[axis] command sets the delay time used when a deviation clear signal is sent.  The ERCD[axis] command can write a new delay or read the condition based on the table ERCD command below.

Value

Delay

0

0 µs

1

12 µs

2

1.6 ms

3

104 ms

ERCD command


ERCP[axis] command sets the width of the output deviation clear signal.  The ERCP[axis] command can write a new pulse width or read the condition based on the table ERCP command below.

Value

Pulse Width

0

12 µs

1

102 µs

2

409 µs

3

1.6 ms

4

13 ms

5

52 ms

6

104 ms

ERCP command

ASCII

ERC[axis]

ERCD[axis]

ERCP[axis]

Standalone

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