VE3007 12P4375X012 Control module

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.

Limit Switch Routine 

The DMC-21x2/21x3 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. The state of the forward and reverse limit switches may also be tested during the jump-on-condition statement. The _LR condition specifies the reverse limit and _LF specifies the forward limit. A,B,C, or D following LR or LF specifies the axis. The CN command can be used to configure the polarity of the limit switches.

Amplifier Error Routine

 The DMC-21x3 can be used with an AMP-20440 200W brush-type amplifier or an AMP-20540 500W brushless/brush-type amplifier. The Controller can communicate to the AMP-20540 module via SPI, and various amplifier error states can be monitored. If there is an overcurrent, overvoltage, undervoltage, or Hall input error, the application program will jump to the #AMPERR automatic subroutine. Once the routine is running, the user can program conditional statements to alert the operator to the amplifier error, shut off the amplifiers, turn on the error output, etc.

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