Galil DMC-1510, Руководство пользователя

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Chapter 8 Hardware & Software Protection DMC-1500
Chapter 8 Hardware & Software
Protection
Introduction
The DMC-1500 provides several hardware and software features to check for error conditions and to
inhibit the motor on error. These features help protect the various system components from damage.
WARNING: Machinery in motion can be dangerous! It is the responsibility of the user to design
effective error handling and safety protection as part of the machine. Since the DMC-1500 is an
integral part of the machine, the engineer should design his overall system with protection against a
possible component failure on the DMC-1500. Galil shall not be liable or responsible for any
incidental or consequential damages.
Hardware Protection
The DMC-1500 includes hardware input and output protection lines for various error and mechanical
limit conditions. These include:
Output Protection Lines
Amp Enable - This signal goes low when the motor off command is given, when the position error
exceeds the value specified by the Error Limit (ER) command, or when off-on-error condition is
enabled (OE1) and the abort command is given. Each axis amplifier has separate amplifier enable
lines. This signal also goes low when the watch-dog timer is activated, or upon reset.
Note: The
standard configuration of the AEN signal is TTL active high. Both the polarity and the amplitude can
be changed if you are using the ICM-1100 interface board. To make these changes, see section
entitled ‘Amplifier Interface’ pg. 3-25.
Input Protection Lines
Abort - A low input stops commanded motion instantly without a controlled deceleration. For any
axis in which the Off-On-Error function is enabled, the amplifiers will be disabled. This could cause
the motor to ‘coast’ to a stop. If the Off-On-Error function is not enabled, the motor will
instantaneously stop and servo at the current position. The Off-On-Error function is further discussed
in this chapter.
Forward Limit Switch - Low input inhibits motion in forward direction. If the motor is moving in
the forward direction when the limit switch is activated, the motion will decelerate and stop. In
addition, if the motor is moving in the forward direction, the controller will automatically jump to the
limit switch subroutine, #LIMSWI (if such a routine has been written by the user). The CN command
can be used to change the polarity of the limit switches.