Galil Motion Control CDS-3310, User Manual

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CDS-3310 Chapter 8 Hardware & Software Protection
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Input Protection Lines
General Abort
- A low input stops commanded motion instantly without a controlled deceleration.
For any axis in which the Off On Error function is enabled, the amplifiers will be disabled.
This could cause the motor to ‘coast’ to a stop. If the Off On Error function is not enabled,
the motor will instantaneously stop and servo at the current position. The Off On Error
function is further discussed in this chapter.
Forward Limit Switch
- Low input inhibits motion in forward direction. If the motor is moving
in the forward direction when the limit switch is activated, the motion will decelerate and
stop. In addition, if the motor is moving in the forward direction, the controller will
automatically jump to the limit switch subroutine, #LIMSWI (if such a routine has been
written by the user). The CN command can be used to change the polarity of the limit
switches.
Reverse Limit Switch
- Low input inhibits motion in reverse direction. If the motor is moving in
the reverse direction when the limit switch is activated, the motion will decelerate and stop.
In addition, if the motor is moving in the reverse direction, the controller will automatically
jump to the limit switch subroutine, #LIMSWI (if such a routine has been written by the user).
The CN command can be used to change the polarity of the limit switches.
Amplifier Status LED’s
Over-Voltage Protection
– The CDS-3310 is protected against over voltage. If the supply
voltage exceeds 78 V, the over voltage protection will take effect. The yellow over voltage
LED will be lit on the amplifier until the voltage drops below 74 V. This error is monitored
with bit 1 of the TA0 command.
It is possible to get into this condition if the power supply voltage is too high, or if the voltage
level is raised due to regeneration. If you have very high inertial loads (which may cause
regeneration), you may consider using a shunt regulator such as the SR-199000 supplied by
Galil.
Over-Current Protection
– The controller also has protection against over current. If the total
current from the supply exceeds 15 A, the amplifier will be disabled. It can be enabled again
from the controller by issuing the MO and then SH command. 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. If you see that the red over current LED is lit on the amplifier, there is a problem
with either your system or the amplifier. The most likely reason is because of a short between
the motor phases or between the motor phases and ground. This indicates either a wiring
problem, or a faulty motor.
Software Protection
The CDS-3310 provides a programmable error limit. The error limit can be set for any number
between 1 and 32767 using the ER n command. The default value for ER is 16384.
ER 200,300,400,500
Set A-axis error limit for 200, B-axis error limit to 300, C-axis error limit to
400 counts, D-axis error limit to 500 counts
ER,1,,10 Set B-axis error limit to 1 count, set D-axis error limit to 10 counts.
The units of the error limit are quadrature counts. The error is the difference between the command
position and actual encoder position. If the absolute value of the error exceeds the value specified by
ER, the CDS-3310 will generate several signals to warn the host system of the error condition. These
signals include: