0022E51FB6DA KJ2005X1-BK1 acquisition module

Software Protection The DMC-21x2/21x3 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. ER 200,300,400,500 Set A-axis error limit for 200, B-axis error limit to 300, C-axis error limit to 400 counts, D-axis error limit to 500 counts ER,1,,10 Set B-axis error limit to 1 count, set D-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 DMC-21x2/21x3 will generate several signals to warn the host system of the error condition.The Jump on Condition statement is useful for branching on a given error within a program. The position error of A,B,C and D can be monitored during execution using the TE command.

Programmable Position Limits 

The DMC-21x2/21x3 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-21x2/21x3 will not accept position commands beyond the limit. Motion beyond the limit is also prevented.

Off-On-Error 

The DMC-21x2/21x3 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 A,B,C and D 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.

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