Galil Motion Control DMC-18 2 Series, User Manual

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DMC-18x2 Chapter 8 Hardware & Software Protection • 151
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 XYZ 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-18x2 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 X,Y,Z, and W 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 1,1,1,1 Enable off-on-error for X,Y,Z, and W
OE 0,1,0,1 Enable off-on-error for Y and W axes and disable off-on-error for X and Z axes
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:
#A;JP #A;EN "Dummy" program
#POSERR Start error routine on error
MG "error" Send message
SB 1 Fire relay
STX Stop motor
AMX After motor stops
SHX Servo motor here to clear error
RE Return to main program
NOTE: An applications program must be executing for the #POSERR routine to function.
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