Error Monitoring And Protection - Galil Motion Control DMC-21 5 Series User Manual

Error Monitoring and Protection

The amplifier is protected against Over-Current and Under-Voltage conditions. These conditions are reported as
amplifier errors via the
The user has the option to include the automatic subroutine
As long as the #AMPERR
label when an amplifier error is detected and begin executing the user defined routine.
is used to monitor amplifier errors. The command will return an eight bit bitmask representing specific error
TA n
conditions. It will also report whether an amplifier error is latched for the bank of axes A - D or the bank of axes E -
H. See the command in the Command Reference for detailed information on bit status during error conditions.
TA
Over-Current Protection
If there is a short circuit in the amplifier or motor, an Over-Current error will be reported and the amplifier will be
disabled. The amplifier should not encounter this error during normal operation.
The behavior of the controller while in an Over-Current condition is dependent on the state of JP5. Table A4.7
below details how the controller will handle the condition:
No Jumper (Default)
Jumper between OC and IN7
Jumper between OC and ABRT
The Over-Current amplifier error is a latching error, see the Clearing Latched Amplifier Errors section for details.
If this error occurs, it is indicative of a problem at the system level. An Over-Current error is usually
WARNING
due to a short across the motor leads or a short from a motor lead to ground.
Under-Voltage Protection
If the voltage supplied to the amplifier drops below its rated supply voltage, an Under-Voltage error will be
reported and the amplifier will be disabled. The error cannot be cleared until the supply voltage raises above its
minimum rated supply voltage. The Under-Voltage amplifier error is a latching error, see the Clearing Latched
Amplifier Errors section for details.
A4 – SDM-20242 ▫ 173
TA command.
label is included in the program that is on the controller, the program will jump to the
The controller takes no action when an Over-Current condition is
Over-Current error is transmitted to the controller's Digital Input 7.
With the
Over-Current error is transmitted to the controller's Abort input.
Behavior can be modified with the OE command.
Table A4.7: Controller behavior during Over-Current
in their program to handle amplifier errors.
#AMPERR
present.
CN,,,,1 and the AE command,
and will automatically run.
#AMPERR
TA will report the error
DMC-21x5 User Manual 1.0a1