56 • Chapter 9 AMP-20540/20520 DMC-21x3 Accessories
out is set via jumpers (see figure below). If no jumpers are installed (factory default), the
corresponding pins on the 44-pin connector will be no-connects. In this example, W axis will
output the motor command on pin 31 and amplifier enable on pin 16. The Z axis will output
PWM (Step) and Sign (Direction) to the appropriate pins.
Figure 28 The W-axis is configured for an external servo amplifier
and Z for an external stepper amplifier
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 has occurred as a result of a hard abort input.
The user also has the option to include the special label #AMPERR in their program to handle
soft or hard 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. The over voltage condition will not permanently shut down the
amplifier or trigger the #AMPERR routine. The amplifier will be momentarily disabled; when
the condition goes away, the amplifier will continue normal operation assuming it did not cause
the position error to exceed the error limit.
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. If at any time the Halls are in an
invalid state, the appropriate bit of TA1 will be set. 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.
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