ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions
Operation & Software Manual
Direct Drives & Systems 99
12.5.4 Errors management with the µ-master
When an axis enters in error mode, the µ-master (DSC2P and DSC2V only) is immediately informed about it
thanks to the information running on the frame of the TEB. In this case, the µ-master sends an error in all the
other axes by sending the !ERR.! command in emergency record via the TEB. All the axes which were not in
error will go in EXTERNAL ERROR error (M64=116). The !ERR.! command is sent only once by the µ-master.
Only the execution of the RST command allows the µ-master to send again the !ERR.! command (when an
axis is in error).
All this is possible as long as the TEB works properly. If there are problems on the TEB (error,...), it is possible
to send the TIMEOUT TEB ERR error (M64=56) in all the axis if the bit# 1 of parameter K141 is set to 1. This
error can be activated or deactivated with a parameter because if the user wants to work with the controller in
single mode (without TEB connection), he does not want it to be in error. In all the modes using the TEB, it
is highly recommended to enable this error by setting the bit# 1 of parameter K141 to 1.
During the initialization of the TEB, if the µ-master tests that the TEB is not at least once in ’Ready’ mode (which
means no error) in the first 5 seconds, it will enters in SELFTEST TEB ERR error (M64=54).
12.5.5 Dynamic braking
The dynamic braking is used to quickly stop the motor when an error arises and allows the user to protect the
mechanical system during an emergency braking. It is based on the short-circuit principle at the terminals of
the motor.
Caution: This function cannot be considered as a safety system because there is no mechanical
protection (relay), the function is managed by a software and a voltage is present at the
motor's terminal! (continuous alternating switching of the transistors (GND - Vpower)).
Due to this voltage, it is strictly forbidden to touch the system (controller, cable and
motor) as long as the mains is not switched off.
Bit 4 of parameter K32 is used to enable or disable the braking mode (refer also to §12.9
for more information
about parameter K32). Once enabled (K32¦ = ∅x10), 2 types of error having an opposite effect on the braking,
can arise. These two types of error (refer to §19.
for the list) are: 'brake on' activating the braking mode and
'brake off' cancelling the braking. The deactivation takes always priority over the activation.
• If a ‘brake off’ error type arises, the braking will not be reactivated by a ‘brake on’ error type. It can be done
only after a ‘PWR.<axis>=1’ or
RSD.<axis>=255 command.
• If a ‘brake on’ error type arises, followed by a ‘brake off’ one, this second error type will not be displayed
but the braking will be deactivated.
• The ‘RST’ command does not have any effect on the braking mode. The latter can be reset only after a
PWR.<axis>=1 or RSD.<axis>=255 or by resetting and setting again bit# 4 of parameter K32. If the
braking is activated, a vertical motor will not suddenly fall against the mechanical end stop after the ‘RST’
command.
• During the braking, there is a protection against the overcurrent in order to protect the controller and the
system. The braking is deactivated (power bridge opened) when the current in one phase is bigger than
75% of the software overcurrent error (parameter K83). The braking is reactivated when the current in all
phases is again smaller than this limit.
• During the braking, there is also a protection against the I2t in order to protect the controller and the
system. The braking is deactivated when monitoring M67 (I2t value) is bigger than 75% of I2t error
(parameter K85). The braking is reactivated when monitoring M67 is again smaller than this limit.
Available on DSC2P DSC2V DSCDP DSCDL DSCDM
Available on DSC2P DSC2V DSCDP DSCDL DSCDM
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