Galil Motion Control CDS-3310, User Manual

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Chapter 8 Hardware & Software Protection CDS-3310
SIGNAL OR FUNCTION STATE IF ERROR OCCURS
# POSERR Jumps to automatic excess position error subroutine
Error Light Turns on
OE Function Shuts motor off if OE1
AEN Output Line Goes low
The Jump on Condition statement is useful for branching on a given error within a program. The
position error of A,B,C and D can be monitored during execution using the TE command.
Programmable Position Limits
The CDS-3310 provides programmable forward and reverse position limits. These are set by the BL
and FL software commands. Once a position limit is specified, the CDS-3310 will not accept position
commands beyond the limit. Motion beyond the limit is also prevented.
Example
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 CDS-3310 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.