Galil DMC-4040, User Manual

Page: 249 / 284

via the TA command. TA n may be used to monitor the errors with n = 0, 1, 2, or 3. The command will return an
eight bit number representing specific conditions. TA0 will return errors with regard to under voltage, over voltage,
over current, and over temperature. TA1 will return hall errors on the appropriate axes, TA2 will monitor if the
amplifier current exceeds the continuous setting, and TA3 will return if the ELO input has been triggered.
The user also has the option to include the special label #AMPERR in their program to handle soft or hard errors.
As long as a program is executing in thread zero, and the #AMPERR label is included, when an error is detected, the
program will jump to the label and execute the user defined routine. 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 be momentarily disabled; when the condition
goes away, the amplifier will continue normal operation assuming it did not cause the position error to 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 12 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.
Note : If there is an #AMPERR routine and the controller is powered before the amplifier, then the #AMPERR
routine will automatically be triggered.
Over-Voltage Protection
If the voltage supply to the amplifier rises above 92 VDC, then the amplifier will automatically disable. The
amplifier will re-enable when the supply drops below 90 V. This error is monitored with bit 1 of the TA0 command.
Over-Current Protection
The amplifier also has circuitry to protect against over-current. If the total current from a set of 2 axes (ie A and B
or C and D) exceeds 20 A, the amplifier will be disabled. The amplifier will not be re-enabled until there is no
longer an over-current draw and then either SH command has been sent or the controller is reset. Since the AMP-
43040 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.
DMC-40x0 User Manual A1 – AMP-430x0 (-D3040,-D3020)
•
240