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 change state and the #AMPERR routine will run when the ELO
input is triggered. To recover from an ELO from the terminal, an MO followed by LC*=0, and an SH must be issued.
To recover from an ELO in DMC code, include WT2 after LC*=0 and before the SH command. TA3 will report ELO
has been cleared after the SH command is received by the controller.
It is recommended that OE1 be used for all axes when the ELO is used in an application.
See the Error: Reference source not found section in Error: Reference source not found for information on
connecting the ELO input.
Using External Amplifiers
Use the connectors on top of the controller to access necessary signals to run external amplifiers. For more
information on connecting external amplifiers, see Step A in Chapter 2.
Protection Circuitry
The SDM-44040 has short circuit protection. The short circuit protection will protect against phase to phase
shorts, a shorted load and a short to ground or chassis.
In the event of any of a fault, TA0 will change state and the SDM-44040 will be disabled.
In the event that power is removed to the SDM-44040 but not to the controller, an amplifier error will occur.
To recover from an error state, all 4 axes need to be set into MO state, LC must set to 0 and then the SH command
must be issued.
Clearing Latched Amplifier Errors
Default Error Clearing
Amplifier errors that do not latch will be reported in real-time by the TA command.
For latching errors to report and latch for a bank of axes, at least one axis in that bank must be in a servo here
state (SH).
To clear latched amplifier errors, issue the MO command followed by SH. If an axis is moving, motion must be
halted before attempting to clear amplifier errors.
Enhanced Error Clearing
Enhanced error clearing and reporting can be enabled by issuing AZ2 to the controller.
While all axes are in a motor off state (MO) and there are no latched amplifier errors, all amplifier errors will be
reported in real-time by the TA command. For an amplifier error to latch for a bank of axes, at least one axis in that
bank must be in a servo here state (SH).
To clear latched amplifier errors, issue the MO command followed by AZ1. Use the TA command to report if an
amplifier error condition is still present. If an axis is moving, motion must be halted before attempting to clear
amplifier errors. See the #AMPERR label and AZ command in the Command Reference for more information and
examples.
NOTE: Enhanced Error Clearing is supported on the DMC-4000 as of firmware revision 1.3d and amplifier hardware
revision 4.
A7 – SDM-44040 (-D4040,-D4020) ▫ 226 DMC-41x3 User Manual
To Next Page
Loading...
