Using External Amplifiers
Use connectors on top of controller to access necessary signals to run external amplifiers. In order to use the full
torque limit, make sure the AG setting for the axes using external amplifiers are set to 0 or 1. Set the BR command
to 1 for any axis that will be setup to run external amplifiers (this will disable the hall error protection). For more
information on connecting external amplifiers, see Step 2b. Connecting External Amplifiers and Motors in Chapter
2.
ELO Input
If the ELO input on the controller is triggered, the amplifier will be shut down at a hardware level, the motors will
be essentially in a Motor Off (MO) state. TA3 will return a 3 and the #AMPERR routine will run when the ELO input
is triggered. To recover from an ELO, an MO followed by a WT 2, and an SH must be issued, or the controller must
be reset.
It is recommended that OE1 be used for all axes when the ELO is used in an application.
See the Optoisolated Input Electrical Informationsection in Chapter 3 Connecting Hardware for information on
connecting the ELO input.
Error Monitoring and Protection
The amplifier is protected against over-voltage, under-voltage, over-temperature, and over-current for brush and
brushless operation. The controller will also monitor for illegal Hall states (000 or 111 with 120° phasing). The
controller will monitor the error conditions and respond as programmed in the application. The errors are
monitored via the TA command. TA n may be used to monitor the errors with n = 0, 1, 2, or 3. The command will
return an eight bit number representing specific conditions. TA0 will return errors with regard to under voltage,
over voltage, over current, and over temperature. TA1 will return hall errors on the appropriate axes, TA2 will
monitor if the amplifier current exceeds the continuous setting, and TA3 will return if the ELO input has been
triggered.
The user also has the option to include the special label #AMPERR in their program to amplifier errors. As long as a
program is executing in thread zero and the #AMPERR label is included, when an error is detected the program will
jump to the label and execute the user defined routine. Note that the TA command is a monitoring function only,
and does not generate an error condition.
See the TA command for detailed information on bit status during error conditions.
Hall Error Protection
During normal operation, the controller should not have any Hall errors. Hall errors can be caused by a faulty Hall-
effect sensor or a noisy environment. The state of the Hall inputs can also be monitored through the QH
command. Hall errors will cause the amplifier to be disabled if OE 1 is set, and will cause the controller to enter
the #AMPERR subroutine if it is included in a running program.
Under-Voltage Protection
If the supply to the amplifier drops below 18 VDC, the amplifier will be disabled. The amplifier will return to
normal operation once the supply is raised above the 18V threshold; TA 0 will tell the user whether the supply is in
the acceptable range.
NOTE: If there is an #AMPERR routine and the controller is powered before the amplifier, then the #AMPERR
routine will automatically be triggered.
A3 – AMP-43240 (-D3240) ▫ 200 DMC-41x3 User Manual
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