Feature Configuration
ANCA Motion
DS619-0-00-0019 - Rev 0
125
10
Note that the acceleration/deceleration constraints are enforced anywhere within the working envelope (position
vs. velocity space), not just those points dictated by the position constraints.
Safety Constraints
Safety constraints are intended to be dynamically enabled and disabled while the drive is operating. Setting the
Master Enable IDN P-0-120 / 32882 to the value of 1 will result in the safety constraints being applied. A
separate enable flag, IDN P-0-121 / 32883 is used to individually specify which constraint is to be enabled, similar
to the global constraints described above. An example application of this feature may be for the master to
dynamically implement a conservative set of constraints under potentially dangerous situations, such as when the
axis is not homed or the machine door is open. Note that these are NOT CE Safety certifiable safety functions,
thus they provide safety related capability for the AMD2000 without the associated claims for reliability.
The full set of adjustable constraints is listed below, and each of these constraints is enabled by setting its
associated bit to 1 (ON) in the Safety Constraints Enable Flag (P-0-0099 / 32867). The values residing in the the
following list of IDN’s then provide the relevant constraint levels;
IDN
Label
P-0-120 / 32882
Safety Constraints Master Enable
P-0-115 / 32883
Safety Constraints Enable Flag
P-0-0116 / 32884
Safety Maximum Position Constraint
P-0-0117 / 32885
Safety Minimum Position Constraint
P-0-0118 / 32886
Safety Maximum Velocity Constraint
P-0-0119 / 32887
Safety Minimum Velocity Constraint
P-0-0120 / 32888
Safety Acceleration Constraint (positive velocity)
P-0-0121 / 32889
Safety Acceleration Constraint (negative velocity)
P-0-0122 / 32890
Safety Deceleration Constraint (positive velocity)
P-0-0123 / 32891
Safety Deceleration Constraint (negative velocity)
P-0-0124 / 32892
Safety Maximum Force Constraint
P-0-0125 / 32893
Safety Minimum Force Constraint
Each bit of the Safety Constraints Enable Flag (IDN P-0-0121) and its associated constraint is listed below;
Bit
Label
0
Position Minimum
1
Velocity Minimum
2
Deceleration (positive velocity)
3
Acceleration (negative velocity)
4
Not used
5
Force Minimum
6
Not used
7
Not used
8
Position Maximum
9
Velocity Maximum
10
Deceleration (negative velocity)
11
Acceleration (positive velocity)
12
Not used
13
Force Maximum
14
Not used
15
Not used
4 Least Significant Bits (LSB)