IERR – Alarm/Limit Registration
Gets/sets the ignore limit status [value].
The command does not prevent an alarm or limit from stopping motion, but it does not register as an error, and motion can continue without an error clear if the limit or alarm is no longer active.
Access: Read/Write
Category: Motion
Applies to: All Commander Controllers
ASCII IERR
Syntax
Read
IERR
Write
IERR=[value]
|
[value]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