TORQUE ENABLE SAFETY CIRCUITRY
IPA Hardware Installation Guide 81
Truth Table
Drive cannot start or supply power to the motor.
Torque Enable fault is reported.
Abnormal one
channel detection
Drive cannot start or supply power to the motor.
Torque Enable fault is reported. If condition exists for
more than 3.0 seconds, the Torque Enable fault will
lock and a Torque Enable Unhealthy state will be
logged. The drive cannot start until the fault is rectified,
all power is removed, the drive allowed to fully power-
down and power reapplied.
Drive is enabled to run under software control and
hardware will allow power to be supplied to the motor.
Ideal Operation
In ideal operation, both inputs TRQ_EN1 and TRQ_EN2 should change state simultaneously reflecting true dual-
channel operation as intended.
States:
1. Both inputs are low. Hardware prevents the drive from starting. This is the torque disabled state
of the drive.
2. Both inputs are high. Drive is able to run under software control.
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