Galil DMC-1510, User Manual

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Chapter 8 Hardware & Software Protection DMC-1500
The abort command is given
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.
Examples - Using Off-On-Error
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 W and Z axes
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 - using automatic error subroutine
Instruction Interpretation
#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.
Limit Switch Routine
The DMC-1500 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. X,Y,Z,
or W following LR or LF specifies the axis. The CN command can be used to configure the polarity of
the limit switches.
Example - Using Limit Switch Subroutine
Instruction Interpretation
#A;JP #A;EN Dummy Program
#LIMSWI Limit Switch Utility
V1=_LFX Check if forward limit