Operational Theory
Xenus XSL User Guide
36
Copley Controls Corp.
2.10: Protection
2.10.1: Faults
Overview
Xenus detects and responds to a set of conditions regarded as faults, such as amplifier over
temperature and excessive following error. When any fault occurs, with the exception of a
following error, the amplifier’s PWM output stage is disabled, the fault type is recorded in the
amplifier’s internal error log (which can be viewed with CME 2), and the status LED changes to
indicate a fault condition exists. A digital output can also be programmed to activate on a fault
condition. The following error fault behaves with slight differences, as described in
Following Error Fault Details (p. 39)
.
The amplifier’s PWM output stage can be re-enabled after the fault condition is corrected and the
amplifier faults are cleared. The process for clearing faults varies depending on whether the fault
is configured as non-latched or latched.
The fault-clearing descriptions below apply to all faults except for the following error fault, which is
described in
Following Error Fault Details (p. 39)
.
Clearing Non-Latched Faults
The amplifier clears a non-latched fault, without operator intervention, as soon as the fault
condition is corrected.
Risk of unexpected motion with non-latched faults.
!
DANGER
After the cause of a non-latched fault is corrected, the amplifier re-enables the PWM
output stage without operator intervention. In this case, motion may re-start
unexpectedly. Configure faults as latched unless a specific situation calls for non-
latched behavior. When using non-latched faults, be sure to safeguard against
unexpected motion.
Failure to heed this warning can cause equipment damage, injury, or death.
Clearing Latched Faults
A latched fault is cleared only after the fault has been corrected and at least one of the following
actions has been taken:
•
power-cycle the +24 Vdc to the amplifier
•
cycle (disable and then enable) an enable input that is configured as
Enables with Clear Faults
or
Enables with Reset
•
access the CME 2
Control Panel
(
) and press
Clear Faults
or
Reset
•
clear the fault over the CANopen network or serial bus
Example: Non-Latched vs. Latched Faults
For example, the amplifier temperature reaches the fault temperature level and the amplifier
reports the fault and disables the PWM output. Then, the amplifier temperature is brought back
into operating range. If the
Amplifier Over Temperature
fault is not latched, the fault is
automatically cleared and the amplifier’s PWM outputs are enabled. If the fault is latched, the fault
remains active and the amplifier’s PWM outputs remain disabled until the faults are specifically
cleared (as described above).
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