Galil Motion Control DMC-42 0 Series, Руководство пользователя

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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
(motion stops at forward limits)
Off-On-Error
The DMC-42x0 controller has a built in function which can turn off the motors under certain error conditions. This
function is known as ‘Off-On-Error”. To activate the OE function for each axis, specify 1, 2 or 3 for that 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. A hardware limit is reached
3. The abort command is given
4. 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:
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
OE 2,3 Enable off-on-error for limit switch for the X axis, and position error (or abort input) and limit switch for the Y axis
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, a encoder failure is detected, or the abort input is triggered. 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 cleared.
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
Limit Switch Routine
The DMC-42x0 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.
Chapter 8 Hardware & Software Protection ▫ 150 DMC-42x0 User Manual