Galil DMC-2X00 用户手册

•  Chapter 8  Hardware & Software Protection 

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. 

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) 

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.   

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 

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. 

#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