Off-On-Error; Automatic Error Routine - Galil Motion Control DMC-18 2 Series User Manual

Example:
DP0,0,0
BL -2000,-4000,-8000
FL 2000,4000,8000
JG 2000,2000,2000
BG XYZ
Execution of the above example will cause the motor to slew at the given jog speed until the forward
position limit is reached. Motion will stop once the limit is hit.

Off-On-Error

The DMC-18x2 controller has a built in function which can turn off the motors under certain error
conditions. This function is know as 'Off-On-Error". To activate the OE function for each axis,
specify 1 for X,Y,Z, and W axes. To disable this function, specify 0 for the axes. When the function
is enabled, the corresponding 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 Servo Here (SH) command. The SH command will clear any position
error and reset the commanded position to the actual position.
Examples:
OE 1,1,1,1
OE 0,1,0,1

Automatic Error Routine

The #POSERR label causes the statements following to be automatically executed if the error on any
axis exceeds the error limit specified by ER. The error routine should be closed with the RE
command. RE will cause the main program to be resumed where left off.
NOTE: The Error Subroutine will be entered again unless the error condition is gone.
Example:
#A;JP #A;EN
#POSERR
MG "error"
SB 1
STX
AMX
SHX
RE
NOTE: An applications program must be executing for the #POSERR routine to function.
DMC-18x2
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Define Position
Set Reverse position limit
Set Forward position limit
Jog
Begin
Enable off-on-error for X,Y,Z, and W
Enable off-on-error for Y and W axes and disable off-on-error for X and Z axes
"Dummy" program
Start error routine on error
Send message
Fire relay
Stop motor
After motor stops
Servo motor here to clear error
Return to main program
Chapter 8 Hardware & Software Protection • 151