Encoder Disconnected Check Sequence - MUTOH Rockhopper 46 Maintenance Manual

Encoder Disconnected Check Sequence

[Initializes PWM gate array]
Compete check for
disconnected encoder
[Checks X-axis + direction]
< Origin sensor ? >
[END]
Check each axis
[PWM output on]
in each direction
for disconnection
[PWM torque output]
Encoder Disconnected Check Sequence
ON
[Check Y-axis + direction]
[Check X-axis - direction]
[Check Y-axis - direction]
No
< Move 5 pulses ? >
Yes
< 20 msec elapsed ? >
[End]
OFF
[Checks Y-axis - direction]
[Checks X-axis - direction]
[Checks Y-axis + direction]
No
Yes
[Increases PWM torque]
No
< Moves 5 pulses ? >
Yes < 20 msec elapsed ? >
Model Name: Rockhopper-46/62
No
Yes
[Encoder error]
Model Name: Rockhopper-46/62
G I D 4 0 5 0
G I D 4 0 5 0