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Reverse Limit Switch - Low input inhibits motion in reverse direction. If the motor is moving in the
reverse direction when the limit switch is activated, the motion will decelerate and stop. In addition, if
the motor is moving in the reverse 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.
Software Protection
The DMC-1000 provides a programmable error limit for servo operation. The error limit can be set
for any number between 1 and 32767 using the ER n command. The default value for ER is 16384.
Example:
ER 200,300,400,500
ER,1,,10
The units of the error limit are quadrature counts. The error is the difference between the command
position and actual encoder position. If the absolute value of the error exceeds the value specified by
ER, the DMC-1000 will generate several signals to warn the host system of the error condition. These
signals include:
Signal or Function
# POSERR
Error Light
OE Function
The position error of X,Y,Z and W can be monitored during execution using the TE command.
The DMC-1000 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-1000 will not accept position
commands beyond the limit. Motion beyond the limit is also prevented.
Instruction
DP0,0,0
BL -2000,-4000,-8000
FL 2000,4000,8000
JG 2000,2000,2000
BG XYZ
(motion stops at forward limits)
The DMC-1000 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 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:
126 • Chapter 8 Hardware & Software Protection
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Set X-axis error limit for 200, Y-axis error limit to 300, Z-axis error limit to 400
counts, W-axis error limit to 500 counts
Set Y-axis error limit to 1 count, set W-axis error limit to 10 counts.
Indication of Error
Jumps to automatic excess position error subroutine
Turns on when position error exceeds error limit
Shuts motor off by setting AEN output line low if OE1.
Programmable Position Limits
Example - Using position limits
Interpretation
Define Position
Set Reverse position limit
Set Forward position limit
Jog
Begin
Off-On-Error
The position error for the specified axis exceeds the limit set with the
command, ER
DMC-1000
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