66 • Chapter 10 AMP-20542 DMC-21x3 Accessories
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
amplifier errors. As long as a program is executing in thread zero, and the #AMPERR label is
included, the program will jump to the label and execute the user-defined routine when an error
is detected. 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 only be momentarily disabled and when the
condition goes away the amplifier will continue normal operation assuming the position error
has not 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.
Under-Voltage Protection
If the supply to the amplifier drops below 8 VDC, the amplifier will be disabled. The amplifier
will return to normal operation once the supply is raised above the 12V threshold. Bit 3 of the
error status (TA0) will tell the user whether the supply is in the acceptable range.
Over-Voltage Protection
If the supply to the amplifier rises above 68 VDC, then the amplifier will automatically disable.
The amplifier will re-enable when the supply drops below 66 V. This error is monitored with
bit 1 of the TA0 command. This protection is configurable to activate at 34V and re-enable at
33V by placing a jumper onto JP10.
Over-Current Protection
The amplifier also has circuitry to protect against over-current. If the total current from the
supply exceeds 20A, the amplifier will be disabled. The amplifier will not be re-enabled until
the SH command has been sent or the controller is reset. Since the AMP-20542 is a trans-
conductance amplifier, the amplifier will never go into this mode during normal operation. The
amplifier will be shut down regardless of the setting of OE, or the presence of the #AMPERR
routine. Bit 0 of TA0 will be set.
Note: If this fault occurs, it is indicative of a problem at the system level. An over-current fault
is usually due to a short across the motor leads or a short from a motor lead to ground.
Abort Input Options
See Appendix A.
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