5 Setting parameters
90 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English
5.4 Output stage parameter
Overview
The mains voltage is fed in to the output stage via a precharging circuit. When the power supply is
switched on, the starting current is limited and charging is monitored. After precharging of the interme
diate circuit, the charging circuit is bridged. This status is a requirement for issuing controller enable.
The rectified mains voltage is smoothed with the condensers of the intermediate circuit. From the inter
mediate circuit, the motor is powered via the IGBTs. The output stage contains a series of safety func
tions, which can be partially parametrised:
– Controller enable logic (software and hardware enable)
– Overcurrent monitoring
– Overvoltage / undervoltage monitoring of the intermediate circuit
– Power partial monitoring
Description of the objects
Index Object Name Type Attr.
6510
h
RECORD Drive_data
Object 6510
h
_10
h
: enable_logic
For the output stage of the motor controller to be activated, the digital inputs output stage enable and
controller enable must be set: The output stage enable has a direct effect on the control signals of the
power transistors and would also be able to interrupt them in case of a defective microprocessor. The
removal of the output stage enable with running motor thus ensures that the motor runs out unbraked
or is only stopped by the holding brake, if on hand. The controller enable is processed by the microcon
troller of the motor controller. Depending on the operating mode, the motor controller reacts differently
after removal of this signal:
– Positioning mode and speed-regulated mode
The motor is braked with a defined brake ramp after removal of the signal. The output stage is only
switched off when the motor speed lies below 10 min
-1
and the holding brake, if on hand, has activ
ated.
– Torque-controlled mode
The output stage is switched off immediately after removal of the signal. At the same time, a hold
ing brake, if on hand, is activated. And so the motor runs out unbraked or is stopped only by the
holding brake, if on hand.
Warning
Dangerous voltage!
Both signals do not guarantee that the motor is voltage-free.
When operating the motor controller over the CAN bus, the two digital inputs output stage enable and
controller enable can be placed together onto 24 V, and the enable can be controlled via the CAN bus.
For this, the object 6510
h
_10
h
(enable_logic) must be set to two. For safety reasons, this takes place
automatically with activation of CANopen (also after a reset of the motor controller).
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