Galil Motion Control DMC-21 5 Series User Manual page 125

The position error can be monitored during execution using the
Programmable Position Limits
The DMC-21x5 provides programmable forward and reverse position limits. These are set by the
commands. Once a position limit is specified, the DMC-21x5 will not accept position commands beyond the limit.
Motion beyond the limit is also prevented.
#main;
DP 0,0,0;
BL -2000,-4000,-8000;
FL 2000,4000,8000;
JG 2000,2000,2000;
SH ABC;
BG ABC;
EN;
Off-On-Error
The DMC-21x5 controller has a built in function which can turn off the motors under certain error conditions. This
function is known as Off-On-Error and is enabled with the
specified motor will be disabled under the following conditions depending on the parameter used in the
command:
The position error for the specified axis exceeds the limit set with the
•
A hardware limit is reached
•
The abort command is given
•
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 once it is deemed safe to do so.
Automatic Error Routine
The label causes the statements following to be automatically executed if error on any axis exceeds the
#POSERR
error limit specified by ER, a encoder failure is detected, or the Abort input is triggered. The error routine must be
closed with the command. The
RE
NOTE: The Error Subroutine will be entered again unless the error condition is cleared.
#main;
ERA=1000;
#loop
WT 20;
JP #loop;EN;
#POSERR;
MG "A Axis Error";
SB 1;
Chapter 8 Hardware & Software Protection ▫ 120
Signal or Function
#POSERR Jumps to automatic excess position error subroutine
Error Light Turns on
OE Function
Shuts motor off if
AEN Output Line Switches to Motor Off state
'program label
'define position
'set reverse position limit
'set forward position limit
'set jog speeds on A, B, and C axes
'enable A, B, and C axes
'begin motion, all axes will stop after 3 seconds
'end program
command returns from the error subroutine to the main program.
RE
'label for main dummy program
'set error limit for A axis
'label for loop
'jump back to loop label
'start of position error routine
'send message
'set Output 1
State if Error Occurs
OE1 OE3
or
command.
TE
command. When this function is enabled, the
OE
ER command
BL and FL
OE
DMC-21x5 User Manual 1.0a1