Omron SYSMAC CJ Operation Manual page 201

All BASIC commands
4-2-155 MOTION_ERROR
/i
Type System parameter (read-only)
Syntax MOTION_ERROR
Description The MOTION_ERROR parameter contains a bit pattern showing the
axes which have a motion error. For example. if axis 2 and 6 have the
motion error the MOTION_ERROR value would be 68 (4+64).
A motion error occurs when the AXISSTATUS state for one of the axes
matches the ERRORMASK setting. In this case the enable switch
(WDOG) will be turned off, and MOTION_ERROR contains a bit pattern
showing all axes which have the motion error. The ERROR_AXIS
parameter will contain the number of the first axis to have the error.
Due to technical limitations MOTION_ERROR can return an invalid bit
pattern when multiple axes have a motion error. To obtain the correct
value use the INTEGER_READ command to get the bit pattern in 2
parts.
A motion error can be cleared executing a DATUM(0) command or
resetting the controller with an EX command.
Arguments N/A
Example INTEGER_READ(MOTION_ERROR,VR(100),VR(101))
This example will copy the first 16 bits of MOTION_ERROR to VR(100)
and the rest to VR(101).
See also AXIS, AXISSTATUS, DATUM, ERROR_AXIS, ERRORMASK, WDOG,
INTEGER_READ
Section 4-2
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