The reference circuit below demonstrates interfacing a thermocouple to the X-MCC. Depending on the application,
an offset voltage may need to be provided.
Analog Output
The analog output channel on the X-MCC is non-isolated, and has a range of 0 to 10 V. The output impedance of
the line is 100 Ω.
The nominal analog output resolution is 2.49755859 mV, and the requested value should be specified in Volts with
up to three decimal places. The actual output will be set to the nearest resolution increment, rounded down. The
analog output is set through the
io set
command, as shown below.
/1 io set ao 1 4.625
@01 0 OK IDLE -- 0
/1 io get ao 1
@01 0 OK IDLE -- 4.622
The first command requests the first and only analog output (AO) channel to be set to 4.625 V. The second
command queries the set point of the first analog output channel, and returns the set point floored to three decimal
places.
Emergency Stop
The X-MCC is equipped with an optional 4 pin Emergency Stop input.
A voltage between 12-24 V must always be applied to the two E-stop power inputs. When the E-stop input is de-
energized, the X-MCC produces a Safe Torque Off (STO) response on all motion axes. STO is characterized by
removing power from the motor (
ie.
disabling the driver) and allowing the positioner to coast to an uncontrolled stop.
The controller will still be active in this state and remain responsive to queries and commands. The motor will
remain unpowered until the E-stop input is re-energized and the driver is re-enabled with a
driver enable
command.
WARNING:
Safe Torque Off is not recommended for all usage cases since an uncontrolled, unpowered stop may
result in unsafe behavior.
It is the user’s responsibility to evaluate the safety of their overall application and put in place the correct safety
features. For example, applications with high speeds or heavy loads or vertical motion may require an external