Omron SYSMAC CJ Operation Manual page 165

All BASIC commands
4-2-102 FE
4-2-103 FE_LATCH
4-2-104 FE_LIMIT
/i
Type Axis parameter (read-only)
Syntax FE
Description The FE axis parameter contains the position error in user units. This is
calculated by the demand position (DPOS axis parameter) minus the
measured position (MPOS axis parameter). The value of the Following
Error can be checked by using the axis parameters FE_LIMIT and
FE_RANGE.
Arguments N/A
Example No example.
See also AXIS, DPOS, FE_LIMIT, FE_RANGE, MPOS, UNITS.
/i
Type Axis parameter (read-only)
Syntax FE_LATCH
Description Contains the initial FE value which caused the axis to put the controller
into MOTION_ERROR. This value is only set when the FE exceeds the
FE_LIMIT and the SERVO parameter has been set to OFF. FE_LATCH
is reset to 0 when the SERVO parameter of the axis is set back to ON.
Arguments N/A
Example No example.
See also N/A
/i
Type Axis parameter
Syntax FE_LIMIT
FELIMIT
Description The FE_LIMIT axis parameter contains the maximum allowed Following
Error in user units. When exceeded, bit 8 of the AXISSTATUS parame-
ter of the axis will be set. If the ERRORMASK parameter has been
properly set, a motion error will be generated and WDOG enable relay
will be reset to 0.
This limit is used to guard against fault conditions, such as mechanical
lock-up, loss of encoder feedback, etc.
Arguments N/A
Example No example.
See also AXIS, AXISSTATUS, ERRORMASK, FE, FE_RANGE, UNITS.
Section 4-2
153