Galil DMC-2X00 Programmable Position Limits, Off-On-Error, Automatic Error Routine, #Ajp #Aen

Programmable Position Limits

The DMC-2x00 provides programmable forward and reverse position limits. These are set by the BL and FL software commands. Once a position limit is specified, the DMC-2x00 will not accept position commands beyond the limit. Motion beyond the limit is also prevented.

Example

Instruction	Interpretation
DP0,0,0	Define Position
BL -2000,-4000,-8000	Set Reverse position limit
FL 2000,4000,8000	Set Forward position limit
JG 2000,2000,2000	Jog
BG ABC	Begin

(motion stops at forward limits)

Off-On-Error

The DMC-2x00 controller has a built in function which can turn off the motors under certain error conditions. This function is know as ‘Off-On-Error”. To activate the OE function for each axis, specify 1 for A,B,C and D axis. To disable this function, specify 0 for the axes. When this function is enabled, the specified motor will be disabled under the following 3 conditions:

1.The position error for the specified axis exceeds the limit set with the command, ER

2.The abort command is given

3.The abort input is activated with a low signal.

NOTE: If the motors are disabled while they are moving, they may ‘coast’ to a stop because they are no longer under servo control.

To re-enable the system, use the Reset (RS) or Servo Here (SH) command.

Example

OE 1,1,1,1	Enable off-on-error for A,B,C and D
OE 0,1,0,1	Enable off-on-error for B and D axes, Disable off-on-error for A and C

Automatic Error Routine

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.

NOTE: The Error Subroutine will be entered again unless the error condition is gone.

Example

Instruction	Interpretation
#A;JP #A;EN	"Dummy" program
#POSERR	Start error routine on error
MG "error"	Send message
SB 1	Fire relay
STA	Stop motor
AMA	After motor stops

128 • Chapter 8 Hardware & Software Protection DMC-2X00