Galil DMC-21x3, Руководство пользователя

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DMC-21x3 Accessories Appendix A Abort Input Options• 97
Appendix A Abort Input Options
The factory default behavior of a falling edge on the abort digital input causes the program to stop
and all motors to servo to an instantaneous stop; however, it may be advantageous configure the
shut down of the amplifiers and/or keep the program running when this occurs.
CN Command: Program Control
The 5
th
field of the CN command configures how the program is handled when the abort line goes
low on the controller. CN ,,,,0 is the default and causes program execution to halt. CN,,,,1 will
allow program to continue.
OE Command: Firmware Disable
If OE is set, the controller’s firmware will toggle all amp enable lines to turn all drives off when
an abort input occurs. The SH command needs to be issued to command further motion. If OE is
not set, the controller will instantaneously servo all axis to a stop.
ELO Jumper: Hardware Disable (AMP-204x0, 205x0, SDM-206x0)
ELO (Emergency Lock Out) is a jumper setting on the AMP-204x0, AMP-205x0, and SDM-
206x0 which configures the amplifier’s behavior when the abort line goes low. With the jumper
absent (default), the behavior of the motors is subject to the OE command above. If the jumper is
installed, the amplifiers will be immediately shut down, leaving the axes in a free-spin state.
Having the ELO jumper installed is similar to OE1, except that the amplifiers are disabled in
hardware rather than firmware. WHEN ELO IS INSTALLED, OE SHOULD BE SET TO 1. To
recover, issue MO; SH. When ELO is active, the overcurrent and overvoltage lights will turn on
with the AMP-204x0 and AMP-205x0 (just the overcurrent light will blink on the SDM-206x0).
ELO Scenarios
The following tables show the response of the AMP-204x0, 205x0, and SDM-206x0 (with ELO
jumper installed) to abort input and over current conditions.
DMC-2143 with AMP-20540
OE*=1; CN,,,,1; #AMPERR defined
Condition input LED state Reaction #AMPERR
runs
TA Recovery
Abort (J3 pin 6) OC + OV -disables axes A-D
yes TA3
returns 1
MO;SH
A-D Over Current OC
“ “
TA0
returns 1 “