For using Encoder Failure to detect a hard stop for A axis I plan using #POSERR. I have define as recommended: OAA=1; OEA=1;OTA=100; OVA=3.
But I found with OV Example (DMC-41x3 Firmware Command Reference) inside #POSERR auto routine following stroke
IF ((_TE~a<_ER~a)&(_OE~a)&(_OA~a))
MG "possible encoder failure on ",~a{Z1.0}," axis"
But #POSERR will be activated with _TEA>ERA only, i.e. condition inside parentheses never been reached true, i.e. MG cannot be received.
Please explain when is my mistake...
AndrewS on 09/06/2016 - 12:16
Hi LeGa,
With Encoder Failure, the actual position needs to stay within 4 counts when it hits the hard stop. This can easily not happen based on encoder resolution, any hardstop give or bounce back. Since this is just homing, I'd recommend setting a lower TL and ER for homing, similar to the example found in Application Note 2448 "[url=http://www.galil.com/download/application-note/note2448.pdf]Homing Methods in Motion Control Applications[/url]".
Regards,
Andrew
LeGa on 09/07/2016 - 00:11
OK lower ER with #POSERR can give me possibility to get MG about failure during Homing or Travel Check for example.
And I have found that #POSERR can be activated with OA for encoder failure also - without changing ER.
I hope that it's correct - will be checked soon.