(hope it's not OT)
Using a DMC 1240, I have to stop ASAP to motion of an AGV within the minimum delay as the front-bumper is engaged, being notified this event has occurred.
In order to do it I connected the bumper to the (hardware) Forward Limit Swich, but after that I realized that such a switch issues only a STOP on the axis.
1) Would it cause trouble to put an AB command in an #LIMSWI routine ?
2) Would it be better to connect such an hw signal directly to the hw Abort Input?
3) And in this case, what's the fastest way to know the presence of an Abort hardware signal (or indirectly, that an Abort has occurred), other than checking the running state of the programs on the Galil ?
thank you in advance
Paolo Meriggi
Galil_JohnH on 01/16/2001 - 09:55
If you would like to use the AB command to stop your motion - make sure that you set up the OE command. With OE1, the AB will shut off the command signal, thus allowing your motors to possibly "coast" to a stop. With an OE0, the motor will decelerate to a stop as fast as mechanically possible and then remain in a servo'd state.
You would also want to use AB1 in your #LIMSWI routine to abort motion only - not the whole program. Connecting to the hardware abort input is a viable option and might save you a little time but you would have to abort your control program as well.
As far as knowing the presence of a hardware input, there is not much we can do since the program will be aborted. A LED would be the best indicator. My opinion would be to use AB1 in software and then issue a UI (User Interrupt) [assuming your O/S supports it], to notify you.
KamSingMedico on 04/12/2018 - 11:39
Abort input not showing any voltage, INCOM is connected to +5V
and when try to move motor with BG Command, Galil LCD shows A as Status on that particular Axis, this is happening on all axis
andriys on 04/18/2018 - 09:16
Hello KamSingMedico,
Abort state can be triggered either by Abort Input or by AB command. Please see AB command in the command reference to get more details on how to check if the abort input is active.
If INCOM is connected to +5V and the circuit is closed on the Abort Input, abort state of the controller will be activated.
Please check your code and your wiring to make sure your abort input is not active.
If you need further assistance, please email to support@galil.com
Thank you,
Andriy Stasyuk
Applications Engineer
Galil Motion Control