APPENDIX B
IPA Hardware Installation Guide 107
Limit and Home Sensor Connections
IPA Thermal Model Protection and Power
Installation
The IPA uses a thermal model of the motor to estimate the coil temperature rise and is much faster than a
thermal switch. If the internal thermal model is to be relied on to protect the motor, do not power off or reset
the IPA during use. During an e-stop or jam, keep the amplifier alive using the separate C1 & C2 power, and shut
off only L1 & L2 power. Do not reset the amplifier or power off. Use the Torque Enable inputs or DRIVE
OFF command. Repeatedly resetting the drive can thermally damage the motor. If the temperature switch is to
be relied on to protect the motor, the peak current should be reduced to twice the continuous current.
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