Alarm Parameters

Alarm parameters are parameters related to alarms. These parameters are set using functions such as SetParam and SetAlarmParam.

This page contains explanations for the following alarm parameters:

Following Error Stopped

Variable Name:

followingErrorStopped

Type:

double

Unit:

user unit

Minimum Value:

0

Maximum Value:

274877906943

Default Value:

0

The maximum difference between the command position and feedback position that can be tolerated while the axis is in the Idle operation state before a following error alarm is triggered. A following error alarm will never be triggered while the axis is Idle if this value is set to 0.

This parameter only applies to Position mode axes.

Following Error Moving

Variable Name:

followingErrorMoving

Type:

double

Unit:

user unit

Minimum Value:

0

Maximum Value:

274877906943

Default Value:

0

The maximum difference between the command position and feedback position that can be tolerated while the axis is executing a motion command before a following error alarm is triggered. A following error alarm will never be triggered while the axis is executing a motion command if this value is set to 0.

This parameter only applies to Position mode axes.

Following Error Type

Variable Name:

followingErrorType

Type:

FollowingErrorAlarmType

Default Value:

NoAction
This parameter determines the action that is executed when the following error alarm is triggered. A following error alarm is triggered whenever the difference between the command position and feedback position of a Position mode axis exceeds the Following Error Stopped or Following Error Moving parameter, depending on whether the axis is currently executing a command or not.

This parameter only applies to Position mode axes.

Velocity Following Error Stopped

Variable Name:

velocityFollowingErrorStopped

Type:

double

Unit:

user unit / second

Minimum Value:

0

Maximum Value:

274877906943

Default Value:

0

The maximum difference between the command velocity and feedback velocity that can be tolerated while the axis is in the Idle operation state before a following error alarm is triggered. A following error alarm will never be triggered while the axis is Idle if this value is set to 0.

This parameter only applies to Velocity mode axes.

Velocity Following Error Stopped Milliseconds

Variable Name:

velocityFollowingErrorStoppedMilliseconds

Type:

double

Unit:

milliseconds

Minimum Value:

0

Maximum Value:

274877906943

Default Value:

0

If set to a value above 0, a following error alarm will only be triggered if the difference between the command velocity and feedback velocity exceeds the amount in Velocity Following Error Stopped continuously for the amount of time specified in this parameter while the axis is in the Idle operation state.

This parameter only applies to Velocity mode axes.

Velocity Following Error Moving

Variable Name:

velocityFollowingErrorMoving

Type:

double

Unit:

user unit / second

Minimum Value:

0

Maximum Value:

274877906943

Default Value:

0

The maximum difference between the command velocity and feedback velocity that can be tolerated while the axis is executing a motion command before a following error alarm is triggered. A following error alarm will never be triggered while the axis is executing a motion command if this value is set to 0.

This parameter only applies to Velocity mode axes.

Velocity Following Error Moving Milliseconds

Variable Name:

velocityFollowingErrorMovingMilliseconds

Type:

double

Unit:

milliseconds

Minimum Value:

0

Maximum Value:

274877906943

Default Value:

0

If set to a value above 0, a following error alarm will only be triggered if the difference between the command velocity and feedback velocity exceeds the amount in Velocity Following Error Moving continuously for the amount of time specified in this parameter while the axis is executing a motion command.

This parameter only applies to Velocity mode axes.

Velocity Following Error Type

Variable Name:

velocityFollowingErrorType

Type:

VelocityFollowingErrorAlarmType

Default Value:

NoAction
This parameter determines the action that is executed when the following error alarm is triggered. A following error alarm is triggered whenever the difference between the command velocity and feedback velocity of a Velocity mode axis exceeds the Velocity Following Error Stopped or Velocity Following Error Moving parameter, depending on whether the axis is currently executing a command or not.

This parameter only applies to Velocity mode axes.

Servo Off During Amp Alarm

Variable Name:

servoOffDuringAmpAlarm

Type:

bool

Default Value:

TRUE

This parameter determines if a servo off signal should be sent to the servo when the servo reports an amplifier alarm. Many servos automatically turn off during amplifier alarms, even without receiving a servo off signal. Most users should keep this parameter at the default value.

Servo On Following Error

Variable Name:

servoOnFollowingError

Type:

int

Unit:

pulse

Minimum Value:

0

Maximum Value:

2147483647

Default Value:

10000

This parameter is a safety feature that prevents the servo from turning on if a servo on command is sent while the pulse unit difference in the command position and feedback position is greater than this value. If a servo on command is sent while the difference in the command position and feedback position is greater than this parameter, a following error alarm is triggered.

If this parameter is set to 0, a following error alarm will not trigger regardless of the difference between the command position and feedback position when the servo on command is sent.