Schematic

Commands Reference
318 Advanced Digital Motor Controller User Manual V1.8, August 28, 2017
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 combination of time & error level. This parameter
is also used to limit the loop error when operating in Count Position, and Speed Position
modes. When enabled, the desired position (tracking) will stop progressing when the loop
error is greater than 50% the detection threshold while power output is already at 100%.
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
EHL - Encoder High Count Limit
HexCode: 4C