Galil DMC-4040, Руководство пользователя

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The Jump on Condition statement is useful for branching on a given error within a program. The position error of
X,Y,Z and W can be monitored during execution using the TE command.
Programmable Position Limits
The DMC-40x0 provides programmable forward and reverse position limits. These are set by the BL and FL
software commands. Once a position limit is specified, the DMC-40x0 will not accept position commands beyond
the limit. Motion beyond the limit is also prevented.
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-40x0 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 for X,Y,Z and W 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. 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 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
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:
#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
Chapter 8 Hardware & Software Protection
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179 DMC-40x0 User Manual