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Chapter 8 Hardware & Software Protection • 150 USER MANUAL
Input Protection Lines
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.
Software Protection
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:
Signal or Function State if Error Occurs
# 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.
Programmable Position Limits
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