ADLINK Technology AMP-204C, User Manual

Page: 175 / 193

Motion Control Theory 161
AMP-204C / AMP-208C
4.10 Safety Protection
During equipment operation there maybe errors or situations
where emergency stops are required. In case of this, the usual
method is to stop the mechanical equipment from operation. This
controller provides some safety mechanism to detect predefined
error situations. When these conditions are encountered the
controller take proper actions to protect personnel safety and to
prevent damage to equipments. Some of these safety mechanism
require external hardware signal while others do regular checks
with software. These safety mechanism are described below.
4.10.1 Hardware Protection
The controller provides external hardware signal based detective
protection mechanism including emergency stop (EMG), servo
alarm (ALM) and mechanical plus and minus limit (PEL and MEL).
Detailed operation theories are described below.
4.10.1.1 Emergency Stop (EMG)
See table below for EMG hardware input pins:
EMG signal is a hardware input signal. When EMG signal is set to
ON status the controller responses with following actions:
1. If the EMG signal is set to ON when the axis is in motion
status, the controller stops the axis movement
immediately. Error stop code of the axis is set to "1"
(STOP_EMG) and motion status of axis is set to
abnormal stop (ASTP).
2. If the axis is not in motion status and the EMG signal is
ON then user's motion command shall be ignored by the
controller while error stop code of the axis is set to
STOP_EMG (1) and motion status of axis is set to
abnormal stop (ASTP).
Relevant APIs:
APS_motion_status ();
// read in motion status (ASTP)
APS_get_stop_code ();
// read in error stop code
P1A Pin No Signal Name
51 IEMG