Protection Topic (Axes Category)
Use the Protection topic to configure the settings related to faults, thresholds, inputs, outputs, end-of-travel limits, and software limits. You can also configure the brake output and the abort deceleration rate, and calculate the temperature of the shunt resistor. This topic and its
Faults Module
IMPORTANT: The controller generates an axis fault only if you set the corresponding bit in the FaultMask Parameter. When an axis fault is generated, you can configure what the axis does by changing the state of the corresponding bit in the FaultMaskDecel Parameter, the FaultMaskDisable Parameter, and the FaultMaskDisableDelay Parameter.
The Faults module lets you configure the settings related to faults, such as Feedback Fault Reporting, Fault Outputs, and more. You can specify fault conditions, which include ones that cause the axis to disable or decelerate to a stop. You can also specify the axes on which all motion aborts when a fault is generated.
For more information, see Axis Faults. Also see the parameters that follow:
- FaultAbortAxes Parameter
- FaultMask Parameter
- FaultMaskDecel Parameter
- FaultMaskDisable Parameter
- FaultMaskDisableDelay Parameter
- FaultSetup Parameter
Thresholds Module
The Thresholds module lets you specify thresholds for end-of-travel limits, the current, bus voltage, motor temperature, position error, velocity error, and more.
For more information, see the parameters that follow:
- EndOfTravelCurrentThresholdHigh Parameter
- EndOfTravelCurrentThresholdLow Parameter
- AverageCurrentThreshold Parameter
- AverageCurrentTime Parameter
- BusOvervoltageThreshold Parameter
- ExternalFaultThreshold Parameter
- MarkerSearchThreshold Parameter
- MaxCurrentClamp Parameter
- LinearAmpVoltageClamp Parameter
- MotorSupplyFaultTime Parameter
- MotorTemperatureThreshold Parameter
- PositionErrorThreshold Parameter
- VelocityCommandThreshold Parameter
- VelocityCommandThresholdBeforeHome Parameter
- VelocityErrorThreshold Parameter
Inputs Module
The Inputs module lets you specify analog and digital inputs that the controller monitors to generate an external fault. You can also specify a digital input as the Emergency Stop (ESTOP) sense input and set the maximum pulse width that the drive will ignore on the Safe Torque Off (STO) inputs.
For more information, see Emergency Stop Fault. Also see the parameters that follow:
- EmergencyStopFaultInput Parameter
- ExternalFaultAnalogInput Parameter
- ExternalFaultDigitalInput Parameter
- StoPulseFilter Parameter
Outputs Module
The Outputs module lets you specify which fault conditions cause the axis to change the state of its outputs. You can also specify which outputs are changed when a fault condition is generated.
IMPORTANT: The controller sets analog and digital outputs on a fault condition only for faults that you select in the FaultMaskOutput parameter.
For more information, see the parameters that follow:
- FaultMaskOutput Parameter
- FaultOutputSetup Parameter
- FaultOutputState Parameter
- FaultAnalogOutputSetup Parameter
- FaultAnalogOutput0Value Parameter
- FaultAnalogOutput1Value Parameter
- FaultAnalogOutput2Value Parameter
- FaultAnalogOutput3Value Parameter
- FaultAnalogOutput4Value Parameter
- FaultAnalogOutput5Value Parameter
Limits Module
The Limits module lets you configure the settings related to software limits and the active state of the end-of-travel limits.
For more information, see the parameters that follow:
- EndOfTravelLimitSetup Parameter
- LimitDebounceDistance Parameter
- LimitDebounceTime Parameter
- LimitDecelDistance Parameter
- SoftwareLimitHigh Parameter
- SoftwareLimitLow Parameter
- SoftwareLimitSetup Parameter
Brake Module
HARDWARE: These parameters do not apply when used with the GI4, the GL4, or the XL4s.
The Brake module lets you configure a brake output that is automatically controlled when you enable and disable the axis. You can also specify the type of output that controls the brake.
For more information, see the parameters that follow:
Rates Module
The Rates module lets you specify the deceleration value that is used by an axis during an abort.
For more information, see the Abort section of Motion Functions. Also see the AbortDecelRate Parameter.
Shunt Module
HARDWARE: These parameters apply only to the iXC6e, the XC6e, and the -SX1 options of the iXC4, XC4, iXC4e, and XC4e.
The Shunt module lets you calculate the temperature of the shunt resistor.
For more information, see the parameters that follow:
