![background image](http://html1.mh-extra.com/html/omron/r88a-mcw151-drt-e/r88a-mcw151-drt-e_operation-manual_742243151.webp)
136
Command, function and parameter description
Section 6-3
6-3-62
ENCODER
Type:
Axis Parameter
Description:
The ENCODER axis parameter contains a raw copy of the encoder.
The MPOS axis parameter contains the measured position calculated from
the ENCODER value automatically, allowing for overflows and offsets.
Note This parameter is read-only.
See also:
AXIS, MPOS
6-3-63
ENDMOVE
Type:
Axis Parameter
Description:
The ENDMOVE axis parameter holds the position of the end of the current
move in user units. If the SERVO axis parameter is ON, the ENDMOVE
parameter can be written to produce a step change in the demand position
(DPOS).
Note As the measured position is not changed initially, the following error limit
(FE_LIMIT) should be considered. If the change of demanded position is too
big, the limit will be exceeded.
See also:
AXIS, DPOS, FE_LIMIT, UNITS
6-3-64
EPROM
Type:
Program Command
Syntax:
EPROM
Description:
The EPROM command stores the BASIC programs in the MC Unit in the
Flash memory. At each start-up the program data from the Flash memory will
be copied to the RAM.
Note Motion Perfect offers this command as a button on the control panel. Also
pop-up screens will prompt to write the program data into Flash memory.
See also:
FLASHVR, RUNTYPE
6-3-65
ERROR_AXIS
Type:
System Parameter
Description:
The ERROR_AXIS axis parameter contains the number of the axis which has
caused the motion error.
A motion error occurs when the AXISSTATUS state for one of the axes
matches the ERRORMASK setting. In this case the enable switch (WDOG)
will be turned OFF, the MOTION_ERROR parameter will have value 1 and
the ERROR_AXIS parameter will contain the number of the first axis to have
the error. Refer to 8-2 Error Handling for more detailed information on error
handling.
Note This parameter is read-only.
See also:
AXISSTATUS, ERRORMASK, MOTION_ERROR, WDOG
6-3-66
ERROR_LINE
Type:
Task Parameter
Description:
The ERROR_LINE parameter contains the number of the line which caused
the last BASIC run-time error in the program task. This value is only valid
when the BASICERROR parameter is TRUE.