Galil DMC-2X00 - Manual (Page 183)

Programmable Position Limits
The DMC-2x00 provides programmable forward and reverse position limits. These are set by the BL
and FL software commands. Once a position limit is specified, the DMC-2x00 will not accept position
commands beyond the limit. Motion beyond the limit is also prevented.
Example
Instruction Interpretation
DP0,0,0 Define Position
BL -2000,-4000,-8000 Set Reverse position limit
FL 2000,4000,8000 Set Forward position limit
JG 2000,2000,2000 Jog
BG ABC Begin
(motion stops at forward limits)
Off-On-Error
The DMC-2x00 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 A,B,C and D 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:
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.
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.
Example
OE 1,1,1,1 Enable off-on-error for A,B,C and D
OE 0,1,0,1 Enable off-on-error for B and D axes, Disable off-on-error for A and C
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
Instruction Interpretation
#A;JP #A;EN "Dummy" program
#POSERR Start error routine on error
MG "error" Send message
SB 1 Fire relay
STA Stop motor
AMA After motor stops
DMC-2X00 Chapter 8 Hardware & Software Protection y 173