Galil DMC-2X00 user manual Limit Switch Routine

SHA	Servo motor here to clear error
RE	Return to main program

NOTE: An applications program must be executing for the #POSERR routine to function.

Limit Switch Routine

The DMC-2x00 provides forward and reverse limit switches which inhibit motion in the respective direction. There is also a special label for automatic execution of a limit switch subroutine. The #LIMSWI label specifies the start of the limit switch subroutine. This label causes the statements following to be automatically executed if any limit switch is activated and that axis motor is moving in that direction. The RE command ends the subroutine.

The state of the forward and reverse limit switches may also be tested during the jump-on-condition statement. The _LR condition specifies the reverse limit and _LF specifies the forward limit. A,B,C, or D following LR or LF specifies the axis. The CN command can be used to configure the polarity of the limit switches.

Example

Instruction	Interpretation
#A;JP #A;EN	Dummy Program
#LIMSWI	Limit Switch Utility
v1=_LFA	Check if forward limit
v2=_LRA	Check if reverse limit
JP#LF,v1=0	Jump to #LF if forward
JP#LR,v2=0	Jump to #LR if reverse
JP#END	Jump to end
#LF	#LF
MG "FORWARD LIMIT"	Send message
STX;AMA	Stop motion
PR-1000;BGA;AMA	Move in reverse
JP#END	End
#LR	#LR
MG "REVERSE LIMIT"	Send message
STX;AMA	Stop motion
PR1000;BGA;AMA	Move forward
#END	End
RE	Return to main program

NOTE: An applications program must be executing for #LIMSWI to function.

DMC-2X00 Chapter 8 Hardware & Software Protection y 129