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.
The Abort input by default will also halt program execution; this can be changed by changing the 5
th
field of the CN
command. See the CN command in the command reference for more information.
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 5,6,7,8,13,14,15,16 to act as selective aborts for axes
A,B,C,D,E,F,G,H respectively.
ELO (Electronic Lock Out)
Used in conjunction with Galil amplifiers, this input allows the user the shutdown the amplifier at a hardware level.
For more detailed information on how specific Galil amplifiers behave when the ELO is triggered, see Integrated in
the Appendices.
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. The OE command
can also be configured so that the axis will be disabled upon the activation of a limit switch.
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 OE command can also
be configured so that the axis will be disabled upon the activation of a limit switch.
Software Protection
The DMC-40x0 provides a programmable error limit as well as encoder failure detection. It is recommended that
both the position error and encoder failure detection be used when running servo motors with the DMC-40x0.
Along with position error and encoder failure detection, then DMC-40x0 has the ability to have programmable
software limit.
Position Error
The error limit can be set for any number between 0 and 2147483647 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.
Chapter 8 Hardware & Software Protection ▫ 163 DMC-40x0 User Manual
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