Galil DMC-13X8 ユーザーズマニュアル

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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. 

Selective Abort - The controller 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 controller for selective abort, issue the command CN,,,1.  This configures the 
inputs 5,6,7,8 to act as selective aborts for axes X,Y,Z and W respectively. 

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, #LIMSWI (if such a routine has been written by the user).  The CN command can be used 
to change the polarity of the limit switches. 

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, #LIMSWI (if such a routine has been written by the user).  The CN command can be used 
to change the polarity of the limit switches. 

The DMC-13X8 provides a programmable error limit.  The error limit can be set for any number 
between 1 and 32767 using the ER n command.  The default value for ER is 16384. 

Example: 

ER 200,300,400,500 

Set X-axis error limit for 200, Y-axis error limit to 300, Z-axis error limit to 400 
counts, W-axis error limit to 500 counts 

ER,1,,10 

Set Y-axis error limit to 1 count, set W-axis error limit to 10 counts. 

The units of the error limit are quadrature counts.  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: 

# POSERR 

Jumps to automatic excess position error subroutine 

Error Light 

Turns on 

OE Function 

Shuts motor off if OE1 

AEN Output Line 

Goes low 

The Jump on Condition statement is useful for branching on a given error within a program.  The 
position error of X,Y,Z and W can be monitored during execution using the TE command. 

The DMC-13X8 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-13X8 will not accept 
position commands beyond the limit. Motion beyond the limit is also prevented. 

Example: 

DP0,0,0 Define 

Position