IERR – Alarm/Limit Registration
This command enables or disables the registration of an alarm or limit error. While the command will not prevent an alarm or limit from stopping motion, it will not register as an error, and thus motion can continue without an error clear if the limit or alarm is no longer active.
Applies to: CMD-4CR, CMD-4EX-SA, PMX-4EX-SA, PMX-4ET-SA, PMX-2ED-SA, PMX-2EX
ASCII/Standalone IERR
Syntax:
Read:
IERR
Write:
IERR=[enabled]
|
Where: [enabled] enables or disables the error registration function 0 = register 1 = do not register |
Reply
Command is accepted and executed
Read:
Returns 0 when error is registered, 1 when error is not registered
Write:
OK
Command cannot be processed
An error message is returned. See Error Codes
Example:
Read:
IERR * Returns 0 or 1 (registered or not registered)
Write:
IERR=1 * Set the system to not register errors for alarms and limits
Notes:
- Limits
By default IERR=0, which will trigger a limit error MST[axis](bit8~9) when a limit switch is set to active. Once the limit error is set, use the CLR[axis] command to clear the error in ASCII mode or the ECLEAR[axis] command in standalone mode.
When using the end limit during the homing modes, the ERC (deflection counter clear) signal can be set up to automatically clear the limit errors that accrue due to homing.
The limit error states can be ignored by setting IERR=1. In this case, the motor will still stop when the appropriate switch is triggered; however, it will not enter an error state.
- E-Stop
By default when IERR=0, any axis that is operating when the /CEMG signal goes low or the ESTOP command is sent will set an EMG error flag MST[axis](bit16) for that axis. Any axis with a set EMG error flag cannot operate until the EMG error flag has been cleared.
The EMG error flags are ignored by setting IERR=1. In this case, all axes will still stop when /CEMG is triggered or ESTOP command is sent; and all axes can operate again immediately after the /CEMG input is cleared.
See also:
System Setup, Limits/Safety Setup,
ERC, ERCD, ERCP, INP, POL, SDC, SDE, EXST, STORE