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USER MANUAL Chapter 8 Hardware & Software Protection • 151
BL -2000,-4000,-8000 Set Reverse position limit
FL 2000,4000,8000 Set Forward position limit
JG 2000,2000,2000 Jog
BG XYZ Begin
(motion stops at forward limits)
Off-On-Error
The DMC-13X8 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:
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.
Examples:
OE 1,1,1,1 Enable off-on-error for X,Y,Z and W
OE 0,1,0,1 Enable off-on-error for Y and W axes and disable off-on-error for W and Z axes
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 "Dummy" program
#POSERR Start error routine on error
MG "error" Send message
SB 1 Fire relay
STX Stop motor
AMX After motor stops
SHX Servo motor here to clear error
RE Return to main program
NOTE: An applications program must be executing for the #POSERR routine to function.
Limit Switch Routine
The DMC-13X8 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.