Operational Theory Xenus XSL User Guide
46 Copley Controls Corp.
Custom Output Warning Functions
A custom output can be configured to go active when the amplifier issues any of the following
warnings.
Event Description
Current Output Limited The current output is being limited by the I
2
T algorithm or a latched current fault
has occurred. See Limits (p. 20.)
Voltage Output Limited Current loop is commanding the full bus voltage in an attempt to control current.
Commonly occurs when the motor is running as fast as the available bus voltage
will allow.
Positive Limit Switch Active Axis has contacted positive limit switch.
Negative Limit Switch Active Axis has contacted negative limit switch.
Positive Software Limit Actual position has exceeded the positive software limit setting. See Home
Function (p. 152).
Negative Software Limit Actual position has exceeded the negative software limit setting. See Home
Function (p. 152).
Following Warning Following error has reached programmed warning limit.
See Following Error Fault Details (p. 39).
Velocity Limit Reached The velocity command (from analog input, PWM input, or position loop) has
exceeded the velocity limit that was set as described in Velocity Loop Limits (p.
22).
Acceleration Limit reached In velocity mode, motor has reached an acceleration or deceleration limit that was
set as described in Velocity Loop Limits (p. 22).
Velocity Outside of Tracking
Window
Difference between target and actual velocity has exceeded the window.
See Tracking Window Details (p. 40).
Position Outside of Tracking
Window
The following error has exceeded the programmed value.
See Tracking Window Details (p. 40).
Custom Output Status Functions
A custom output can be configured to go active to indicate the following conditions.
Event Description
Amplifier Disabled by Hardware Amplifier enable input(s) is not active.
Amplifier Disabled by Software Amplifier is disabled by a software command.
Attempting to Stop Motor The amplifier, while in velocity or position mode, has been disabled.
In velocity mode, amplifier is using the Fast Stop Ramp described in
Velocity Loop Limits (p. 22).
In position mode, the amplifier is using the Abort Deceleration rate described in
Trajectory Limits (p. 24).
The output remains active until the amplifier is re-enabled.
Motor Brake Activated Motor brake activated. See Brake Operation (p. 33) for more information.
PWM Outputs Disabled The amplifier’s PWM outputs are disabled.
Home Switch is Active Axis has contacted the home limit switch.
Not Settled The motor is moving, or it has not yet settled after a move. The amplifier is settled
when it comes within the position tracking window and stays there for the tracking
time at the end of a move. Once settled, it remains settled until a new move is
started.
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