User Manual

Motor Configurations
Advanced Digital Motor Controller User Manual 303
Example:
^BLSTD 2: Motor will stop if applied power is higher than 10% and no motion is detected
for more than 250ms
CLERD - Close Loop Error Detection
HexCode: 38
Description:
This parameter is used to detect large tracking errors due to mechanical or sensor failures,
and shut down the motor in case of problem in closed loop speed or position system. The
detection mechanism looks for the size of the tracking error and the duration the error is
present. This parameter allows three combinations of time & error level. This parameter is
not compatible with Closed Loop Speed Position mode.
Syntax Serial: ^CLERD cc nn
~CLERS
Syntax Scripting: setconfig(_CLERD, cc, nn)
Number of Arguments: 2
Argument 1: Channel
Min: 1 Max: Total Number of Motor
Channels
Argument 2: Mode
Type: Unsigned 8-bit
Min: 0 Max: 3
Default: 2 = 500ms at Error > 250
Where:
cc = Motor channel
nn =
0: Detection disabled
1: 250ms at Error > 100
2: 500ms at Error > 250
3: 1000ms at Error > 500
Example:
^CLERD 2: Motor will stop if command - feedback is greater than 100 for more than
250ms
Note:
Disabling the loop error can lead to runaway or other dangerous conditions in case of sen-
sor failure