A2H254-16-RH A2H254-16 switches

To illustrate the control method, assume that the rotary encoder is used as a feedback for the X-axis, and that the linear sensor is read and stored in the variable LINPOS. Further assume that at the start, both the position of X and the value of LINPOS are equal to zero. Now assume that the objective is to move the linear load to the position of 1000. The first step is to command the X motor to move to the rotary position of 1000. Once it arrives we check the position of the load. If, for example, the load position is 980 counts, it implies that a correction of 20 counts must be made. However, when the X-axis is commanded to be at the position of 1000, suppose that the actual position is only 995, implying that X has a position error of 5 counts, which will be eliminated once the motor settles. This implies that the correction needs to be only 15 counts, since 5 counts out of the 20 would be corrected by the X-axis.

Output Protection Lines

 Amp Enable - This signal goes low when the motor off command is given, when the position error exceeds the value specified by the Error Limit (ER) command, or when off on error condition is enabled (OE1) and the abort command is given. Each axis amplifier has separate amplifier enable lines. This signal also goes low when the watch-dog timer is activated, or upon reset. NOTE: The standard configuration of the AEN signal is TTL active low. Both the polarity and the amplitude can be changed if you are using the ICM-2900/ICM-20100/ICM-20105 interface board. To make these changes, see section entitled ‘Amplifier Interface’

Introduction

 The DMC-21x2/21x3 provides several hardware and software features to check for error conditions and to inhibit the motor on error. These features help protect the various system components from damage. WARNING: Machinery in motion can be dangerous! It is the responsibility of the user to design effective error handling and safety protection as part of the machine. Since the DMC-21x2/21x3 is an integral part of the machine, the engineer should design his overall system with protection against a possible component failure on the DMC-21x2/21x3. Galil shall not be liable or responsible for any incidental or consequential damages. on pg 53.

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