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statement in your error program to determine if the cause of the error was a commanded kill or stop (i.e., if
no error bits are set).
Example:
DEF err1
; Define error program err1
IF(ER=b01)
; If the error is a hard limit, send a message & stop program execution
WRITE"Hard Limit Hit"
; Write Hard Limit Hit message
HALT
; Terminate program execution
NIF
; End IF statement
IF(ER=b0X1)
; If error is soft limit, back off soft limit, reset position, & continue
D~
; Change direction in preparation to back off the soft limit
D1
; Set distance to 1 step (just far enough to back off the soft limit)
GO1
; Initiate the 1-step move to back off the soft limit
PSET0
; Reset the position to zero
NIF
; End IF statement
END
; End definition of error program err1
ERRORP err1
; Set error program to err1. Branch to err1 upon hitting a hard or soft limit
ERROR01100000 ; Set error condition bits to look for hard limit or a soft limit
ESDB
Stall Backlash Deadband
Type
Encoder Configuration
Syntax
<a_><!>ESDB<i>
Units
i = motor steps
Range
0 - 99,999,999
Default
0
Response
ESDB:
*ESDB0
See Also
[ AS ], DRES, ERES, ESK, ESTALL, TAS
The
command establishes the number of motor steps that a move will travel after a change in
ESDB
direction before stall detection is initiated. If there is no change in direction, the stall backlash deadband
value will not be used to determine if there is a stall condition. To use the stall backlash deadband, encoder-
based stall detection (
ESTALL
A stall condition will be recorded by bit 12 of the axis status register. The
the axis status response.
Example: Refer to the enable stall detect (ESTALL) command example.
ESK
Kill on Stall
Type
Encoder Configuration
Syntax
<a_><!>ESK<b>
Units
b = enable bit
Range
b = 0 (disable) or 1 (enable)
Default
0
Response
ESK:
*ESK0
See Also
DRES, DRIVE, DSTALL, ERES, ESDB, ESTALL, TAS, TASX, TER
The
command enables/disables the Kill-on-Stall feature. With Kill-on-Stall enabled, if the Gem6K
ESK
detects an encoder stall (
ESTALL
sent to the motor. Stall detection must be enabled (with the
before the
command will have any affect.
ESK
For further details and programming examples on Encoder Stall Detection, refer to
For further details and programming examples on Drive Stall Detection, refer to
124
Gemini GV6K/GT6K Command Reference
) must be enabled.
) or a drive stall (
DSTALL
www.comoso.com
command can be used to get
TAS
), it will immediately stops pulses from being
command or the
ESTALL
DSTALL
ESTALL
DSTALL
Product
Rev
GT6K
6.0
GV6K
n/a
(applicable only to
stepper axes)
Product
Rev
GT6K
6.0
GV6K
n/a
(applicable only to
stepper axes)
command)
.
.
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