Automatic Error Routine; Limit Switch Routine - Galil Motion Control DMC-1000 User Manual

Table of Contents

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.

OE 1,1,1,1

OE 0,1,0,1

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.

Instruction

#A;JP #A;EN

#POSERR

MG "error"

SB 1

STX

AMX

SHX

NOTE: An applications program must be executing for the #POSERR routine to function.

The DMC-1000 provides forward and reverse limit switches which inhibit motion in the respective

direction. There is also a special label for automatic execution of a limit switch subroutine. The

#LIMSWI label specifies the start of the limit switch subroutine. This label causes the statements

following to be automatically executed if any limit switch is activated and that axis motor is moving in

that direction. The RE command ends the subroutine.

The state of the forward and reverse limit switches may also be tested during the jump-on-condition

statement. The _LR condition specifies the reverse limit and _LF specifies the forward limit. X,Y,Z,

or W following LR or LF specifies the axis. The CN command can be used to configure the polarity of

the limit switches.

Instruction

#A;JP #A;EN

#LIMSWI

V1=_LFX

DMC-1000

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The abort command is given

The abort input is activated with a low signal.

Examples - Using Off-On-Error

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 W and Z axes