Galil DMC-3425 user manual Off-On-Error, Automatic Error Routine, Examples

Example:

DP0,0,	Define Position
BL -2000,-4000	Set Reverse position limit
FL 2000,4000	Set Forward position limit
JG 2000,2000	Jog
BG AB	Begin

Execution of the above example will cause the motor to slew at the given jog speed until the forward position limit is reached. Motion will stop once the limit is hit.

Off-On-Error

The DMC-3425 controller has a built in function that 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 and B axes. To disable this function, specify 0 for the axes. When the function is enabled, the corresponding 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 Servo Here (SH) command. The SH command will clear any position error and reset the commanded position to the actual position.

Examples:

OE 1,1	Enable off-on-error for A and B
OE 0,1	Enable off-on-error for B axis and disable off-on-error for A axis

Automatic Error Routine

The #POSERR label causes the statements following to be automatically executed if the error on any axis exceeds the error limit specified by ER. The error routine should be closed with the RE command. RE will cause the main program to be resumed where left off.

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
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.

DMC-3425 Chapter 8 Hardware & Software Protection• 153