Using External Amplifiers
The BR command must be set to a -1 for any axis where an AMP-43540 is installed but the use of an external axis is
required. This setting will disable the requirement to have the BA, BM and BX or BZ commands executed prior to
being able to issue the SH command for that axis. BR-1 is required for both external servo and stepper drivers.
Use the connectors on top of the controller to access necessary signals to run external amplifiers. For more
information on connecting external amplifiers, see Step A in Chapter 2.
ELO Input
If the ELO input on the controller is triggered, the amplifier will be shut down at a hardware level, the motors will
be essentially in a Motor Off (MO) state. TA3 will change state and the #AMPERR routine will run when the ELO
input is triggered. To recover from an ELO, an MO followed by a WT 2, and an SH must be issued, or the controller
must be reset.
It is recommended that OE1 be used for all axes when the ELO is used in an application.
See the Optoisolated Input Electrical Information section in Chapter 3 Connecting Hardware for information on
connecting the ELO input.
Error Monitoring and Protection
The amplifier is protected against over-voltage, under-voltage, over-temperature, and over-current for brush and
brushless operation. The controller will monitor the error conditions and respond as programmed in the
application. The errors are monitored via the TA command. TA n may be used to monitor the errors with n = 0, 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. 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 amplifier 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.
See the TA command for detailed information on bit status during error conditions.
Under-Voltage Protection
If the supply to the amplifier drops below 18 VDC, the amplifier will be disabled. The amplifier will return to
normal operation once the supply is raised above the 18V threshold.
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 94 VDC, then the amplifier will automatically disable. The
amplifier will re-enable when the supply drops below 90 V.
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.
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DMC-40x0 User Manual