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.
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-40x0 provides a programmable error limit. 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.
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
DMC-40x0 User Manual Chapter 8 Hardware & Software Protection • 178
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