Software Protection - Galil Motion Control DMC-21 5 Series User Manual

Input Protection Lines
General Abort
A low input stops commanded motion instantly without a controlled deceleration. For any axis in which the Off-
On-Error function is enabled, the amplifiers will be disabled. This could cause the motor to coast to a stop. If the
Off-On-Error function is not enabled, the motor will instantaneously stop and servo at the current position. The
Off-On-Error function is further discussed in this chapter.
The Abort input by default will also halt program execution; this can be changed by changing the 5
command. See the CN
Selective Abort
The Digital Inputs can be configured to provide an individual abort for each axis. Activation of the selective abort
signal will act the same as the Abort input but only on the specific axis. To configure the Digital Inputs for selective
abort, use the command. See the
CN
ELO (Electronic Lock Out)
Used in conjunction with Galil amplifiers, the function of the Abort input can be changed with the ELO jumper.
With the ELO jumper installed, the Abort input allows the user to shutdown the amplifier at a hardware level and
the controller will automatically jump to the amplifier error routine, #AMPERR. For more detailed information on
how specific Galil amplifiers behave when the ELO is triggered, see the amplifier section in the Accessory
Components.
Forward Limit Switch
Low input inhibits motion in forward direction. If the motor is moving in the forward direction when the limit
switch is activated, the motion will decelerate and stop. In addition, if the motor is moving in the forward
direction, the controller will automatically jump to the limit switch subroutine,
been written by the user). The
command can also be configured so that the axis will be disabled upon the activation of a limit switch.
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,
the user). The CN command can be used to change the polarity of the limit switches. The
configured so that the axis will be disabled upon the activation of a limit switch.

Software Protection

The DMC-21x5 provides a programmable error limit as well as encoder failure detection. It is recommended that
both the position error and encoder failure detection be used when running servo motors with the DMC-21x5.
Along with position error and encoder failure detection, then DMC-21x5 has the ability to have programmable
software limit.
Position Error
The error limit can be set for each axis using the
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 controller will generate several signals to warn the host system of the
error condition. These signals include:
Chapter 8 Hardware & Software Protection ▫ 119
command in the command reference for more information.
command in the command reference for more information.
CN
command can be used to change the polarity of the limit switches. The
CN
#LIMSWI
command. The units of the error limit are quadrature counts.
ER
th field of the
(if such a routine has
#LIMSWI
(if such a routine has been written by
OE command can also be
DMC-21x5 User Manual 1.0a1
CN
OE