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Chapter 3 Connecting Hardware
Overview
The DMC-1000 provides optoisolated digital inputs for forward limit, reverse limit, home, and abort
signals. The controller also has 8 optoisolated, uncommitted inputs (for general use) as well as 8
TTL outputs and 7 analog inputs configured for voltages between +/- 10 volts.
Controllers with 5 or more axes have an additional 8 TTL level inputs and 8 TTL level outputs.
1080
This chapter describes the inputs and outputs and their proper connection.
To access the analog inputs or general inputs 5-8 or all outputs except OUT1, connect the 26-pin
ribbon cable to the 26-pin J5 IDC connector from the DMC-1000 to the AMP-11X0 or ICM-1100
board.
If you plan to use the auxiliary encoder feature of the DMC-1000, you must also connect a 20-pin
ribbon cable from the 20-pin J3 header connector on the DMC-1000 to the 26-pin J3 header connector
on the AMP-11X0 or ICM-1100. This cable is not shipped unless requested when ordering.
Using Optoisolated Inputs
The forward limit switch (FLSx) inhibits motion in the forward direction immediately upon activation
of the switch. The reverse limit switch (RLSx) inhibits motion in the reverse direction immediately
upon activation of the switch. If a limit switch is activated during motion, the controller will make a
decelerated stop using the deceleration rate previously set with the DC command. The motor will
remain in a servo state after the limit switch has been activated and will hold motor position.
When a forward or reverse limit switch is activated, the current application program that is running
will be interrupted and the controller will automatically jump to the #LIMSWI subroutine if one exists.
This is a subroutine which the user can include in any motion control program and is useful for
executing specific instructions upon activation of a limit switch.
After a limit switch has been activated, further motion in the direction of the limit switch will not be
possible until the logic state of the switch returns back to an inactive state. This usually involves
physically opening the tripped switch. Any attempt at further motion before the logic state has been
reset will result in the following error: "022 - Begin not possible due to limit switch" error.
The operands, _LFx and _LRx, return the state of the forward and reverse limit switches, respectively
(x represents the axis, X,Y,Z,W etc.). The value of the operand is either a '0' or '1' corresponding to
the logic state of the limit switch. Using a terminal program, the state of a limit switch can be printed
to the screen with the command, MG _LFx or MG _LFx. This prints the value of the limit switch
operands for the 'x' axis. The logic state of the limit switches can also be interrogated with the TS
command. For more details on TS see the Command Reference.
DMC-1000
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Limit Switch Input
Chapter 3 Connecting Hardware • 25
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