190 ● #POSERR DMC-40x0 Command Reference
#POSERR
FUNCTION: Position error automatic subroutine
DESCRIPTION:
The factory default behavior of the Galil controller upon a position error (TE > ER) is to do
nothing more than turn on the red error LED. If OE is set to 1, the motor whose position error
ER was exceeded will be turned off MO. #POSERR can be used if the programmer wishes to
run code upon a position error (for example to notify a host computer).
The #POSERR label causes the statements following to be automatically executed if error on any
axis exceeds the error limit specified by ER. The error routine must be closed with the RE
command. The RE command returns from the error subroutine to the main program.
USAGE:
While Moving Yes
In a Program Yes
Command Line No
Controller Usage
ALL
RELATED COMMANDS:
OE Off on error
TE Tell error
ER Error limit
EXAMPLES:
#A ;'"Dummy" program
JP #A
#POSERR ;'Position error routine
MG "TE > ER" ;'Send message
RE1 ;'Return to main program
NOTE: The automatic subroutine runs in thread 0.
NOTE: Use RE to end the routine
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