Specifications

BASIC commands
PROGRAMMING MANUAL 85
Revision 5.0
3.2.117 FE_LATCH
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3.2.118 FE_LIMIT
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3.2.119 FE_LIMIT_MODE
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3.2.120 FE_RANGE
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Description The FE axis parameter contains the position error in user units. This is calcu-
lated by the demand position (DPOS axis parameter) minus the measured
position (MPOS axis parameter). The value of the Following Error can be
checked by using the axis parameters FE_LIMIT and FE_RANGE.
Arguments N/A
Example No example.
See also AXIS, DPOS, FE_LIMIT, FE_RANGE, MPOS, UNITS.
Type Axis parameter (read-only)
Syntax FE_LATCH
Description Contains the initial FE value which caused the axis to put the controller into
MOTION_ERROR. This value is only set when the FE exceeds the FE_LIMIT
and the SERVO parameter has been set to OFF. FE_LATCH is reset to 0
when the SERVO parameter of the axis is set back to ON.
Arguments N/A
Example No example.
See also N/A
Type Axis parameter
Syntax FE_LIMIT
FELIMIT
Description The FE_LIMIT axis parameter contains the maximum allowed Following Error
in user units. When exceeded, bit 8 of the AXISSTATUS parameter of the axis
will be set. If the ERRORMASK parameter has been properly set, a motion
error will be generated and WDOG enable relay will be reset to 0.
This limit is used to guard against fault conditions, such as mechanical lock-
up, loss of encoder feedback, etc.
Arguments N/A
Example No example.
See also AXIS, AXISSTATUS, ERRORMASK, FE, FE_RANGE, UNITS.
Type Axis parameter
Syntax FE_LIMIT_MODE=value
Description When this parameter is set to 0, the axis will cause a MOTION_ERROR
immediately when the FE exceeds the FE_LIMIT value.
If FE_LIMIT_MODE is set to 1, the axis will only generate a
MOTION_ERROR when the FE exceeds FE_LIMIT during 2 consecutive
servo periods. This means that if FE_LIMIT is exceeded for one servo period
only, it will be ignored.
The default value for FE_LIMIT_MODE is 0.
Arguments N/A
Example No example.
See also N/A
Type Axis parameter
Syntax FE_RANGE
Description The FE_RANGE axis parameter contains the limit for the Following Error
warning range in user units. When the Following Error exceeds this value on
a servo axis, bit 1 in the AXISSTATUS axis parameter will be turned on.
This range is used as a first indication for fault conditions in the application
(compare FE_LIMIT).
Arguments N/A
Example No example.
See also AXIS, AXISSTATUS, ERRORMASK, FE, UNITS.