Omron trajexia CJ1W-MCH72 Operation Manual page 163

All BASIC commands
4-2-98 ERRORMASK
!Caution
4-2-99 EX
4-2-100 EXP
152
/i
Type Axis parameter
Syntax ERRORMASK
Description The ERRORMASK axis parameter contains a mask value that is
ANDed bit by bit with the AXISSTATUS axis parameter on every servo
cycle to determine if a motion error has occurred. If the result of the
AND operation is not zero, the motion error has occurred.
When a motion error occurs the enable switch (WDOG) will be turned
off, the MOTION_ERROR parameter will have value different than 0
and the ERROR_AXIS parameter will contain the number of the first
axis to have the error.
Check the AXISVALUES parameter for the status bit allocations. The
default setting of ERRORMASK is 268.
Arguments N/A
Example No example.
See also AXIS, AXISSTATUS, MOTION_ERROR, WDOG.
It is up to the user to define in which cases a motion error is generated. For safe
operation it is strongly recommended to generate a motion error when the Following
Error has exceeded its limit in all cases. This is done by setting bit 8 of ERRORMASK
/i
Type System command
Syntax EX[(option)]
Description Resets the controller as if it were being powered up again.
There are two types of reset performed by the EX command. EX without
the argument, or EX(0) does the software reset of the controller. EX(1)
does the hardware reset of the controller
Arguments N/A
Example No example.
See also N/A
/i
Type Mathematical function
Syntax EXP(expression)
Description The EXP function returns the exponential value of the expression.
Arguments • expression
Any valid BASIC expression.
Example >>PRINT EXP(1.0)
2.7183
See also N/A
Section 4-2