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TER
Transfer Error Status
Type
Transfer
Syntax
<a_><!><%>TER<.i>
Units
i = specific error status bit (specific to the task)
Range
1-32
Default
n/a
Response
TER:
*TER0000_0000_0000_0000_0000_0000_0000_0000
bit 1
TER.4:
*0 (bit 4 of error status register for Task 0)
See Also
[ ASX ], DSTALL, [ ER ], ERROR, ERRORP, ESTALL, GOWHEN, INFNC,
LH, LIMFNC, LS, SMPER, STRGTT, TASX, TCMDER, TERF
The
command returns the status of the 32 error bits. There is one error status register per Task. The
TER
status command reports a binary bit report. If you would like to see a more descriptive text-based
TER
report, use the
command description.
TERF
• The specific error bits must be enabled by the Error Enable (ERROR) command before the TER
command will provide the correct status of the error conditions.
• Multi-tasking: If you are using multi-tasking, be aware that each task has its own error status
register. Therefore, to check a specific task's error status, you must prefix the TER command with
the task identifier (e.g., 2%TER to check error status for Task 2). If no task identifier is given, the
TER response is for the task supervisor (Task 0).
The function of each error status bit is shown below.
Bit #
(left to right)
Function (1 = Yes; Ø = No)
1
Stall detected: Functions when stall detection has been enabled
(ESTALL or DSTALL), and Kill on Stall is enabled (ESK1).
2
Hardware end-of-travel limit hit. This condition is detectable
only when the limits are enabled (LH3).
3
Software end-of-travel limit hit. This condition is detectable only
when the limits are enabled (LS3).
4
Drive fault: Detected only if the drive is enabled (DRIVE).
5
RESERVED (see note at end of table; refer to ERROR command)
6
Kill input activated. An input defined as a Kill input (INFNCi-C)
was activated.
7
User Fault input activated. Input must be assigned the user fault
function (INFNCi-F).
8
Stop input activated. An input defined as a Stop input
(INFNCi-D) was activated.
9
Enable input is not grounded.
10
Pre-emptive (on-the-fly) GO or registration move profile not
possible.
11
Target Zone Settling Timeout Period (set with the STRGTT
command) is exceeded.
12
Maximum position error (set with the SMPER command) is
exceeded.
13
RESERVED
14
GOWHEN condition already true when a subsequent GO, FSHFC,
or FSHFD is executed.
15
RESERVED
16
Bad command detected
288
Gemini GV6K/GT6K Command Reference
NOTES
www.comoso.com
Product
GT6K
GV6K
bit 32
GT6K
GV6K
To Clear This Bit:
X
--
GO
X
X
LHØ or GO in opposite
direction.
X
X
LSØ or GO in opposite
direction.
X
X
Varies with Fault –
refer to TASX
X
X
---------
X
X
Deactivate input
X
X
Deactivate input
X
X
Deactivate input
X
X
Ground the Enable
Input
X
X
Issue another GO
command
--
X
STRGTE0 : D0 : GO :
STRGTE1
--
X
DRIVE1
--
--
---------
X
X
---------
--
--
RESERVED
--
X
TCMDER
Rev
6.0
6.0
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