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100

Keyword Reference Guide

MN1270 02.2002 83

Controllers Supported:

NextMove PCI NextMove PC NextMove BX MintDrive ServoNode 51

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Format:

FOLERRORMODE[axes] = <expression> {,<expression> ...}

v = FOLERRORMODE[axis]

Dot Parameters:

Axis - Axis No.

Attributes:

Controller Read Write Command Multi-

Axis

Scaled Default Range

NextMove

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0 ≤ x ≤ 6

MintDrive &

ServoNode 51

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0 ≤ x ≤ 5

Description:

Specifies the default action to be taken in the event of a following error motion error. A following error

occurs when an axis exceeds its following error limit.

AXISSTATUS can be used to check when this

event occurs. If the

FOLERRORMODE is set to check for the error then a motion error

(

_erFOLLOWING_ERROR) will be generated.

The maximum following error limit is set with the

FOLERRORFATAL keyword and the following error

can be read with the

FOLERROR keyword.

FOLERRORMODE also affects the use of IDLEPOS when determining the result of the IDLE keyword.

Following error is only applicable on servo axes or for Stepper axes with encoders. The keyword takes

one of the following values.

Mode Description

0 Ignore. The following error limits are detected and the appropriate bit in

AXISSTATUS is set, but no other action is taken in response to a following error limit

being exceeded

1 The axis is crashed stopped. The axis enables including the relay output are

immediately dropped.

2 Not Applicable

3 Not Applicable

4 Not Applicable

5 The error handler is called

6 Ramp the DAC to zero with a rate set with DACRAMP. The axis will be disabled when

the DAC reaches zero and the error handler called. (NextMove only)

A call to RESET will clear a following error. Alternatively, the FOLERRORMODE can be set to ignore, 0,

and

CANCEL used to clear the error.