Off-On-Error; Automatic Error Routine; Limit Switch Routine - Galil Motion Control DMC-1600 Series User Manual

BG XYZ
(motion stops at forward limits)

Off-On-Error

The DMC-1600 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:
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.
Examples:
OE 1,1,1,1
OE 0,1,0,1

Automatic Error Routine

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.
Example:
#A;JP #A;EN
#POSERR
MG "error"
SB 1
STX
AMX
SHX
RE
NOTE: An applications program must be executing for the #POSERR routine

Limit Switch Routine

The DMC-1600 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
160 • Chapter 8 Hardware & Software Protection
Begin
1. The position error for the specified axis exceeds the limit set with the command, ER
2. The abort command is given
3. The abort input is activated with a low signal.
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
"Dummy" program
Start error routine on error
Send message
Fire relay
Stop motor
After motor stops
Servo motor here to clear error
Return to main program
to function.
DMC-1600