User guide

Digital Inputs and Outputs CME 2 User Guide
62 Copley Controls
Custom Event Functions
Select any combination of events to configure a custom event output:
Event
Description
Amplifier Fault
A latched fault is active.
Amp Over Temperature
For descriptions of these fault events, see Fault Configuration Parameters
(p 88).
Motor Phasing Error
Feedback Error
Motor Over Temperature
Under Voltage
Over Voltage
Short Circuit
Current Limited
The current output is being limited by the I
2
T algorithm (p. 191) or a latched
current fault has occurred. See Limits (p. 118.)
Voltage Limited
Current loop is commanding the full bus voltage in an attempt to control
current. Commonly occurs when the motor is running as fast as the
available bus voltage will allow.
Positive Limit Switch
Axis has contacted positive limit switch.
Negative Limit Switch
Axis has contacted negative limit switch.
Amp Disabled by Hardware
Amplifier enable input(s) is not active.
Amp Disabled by Software
Amplifier is disabled by a software command.
Attempting to Stop Motor
The amplifier, while in velocity or position mode, has been disabled.
In velocity mode, amplifier is using the Fast Stop Ramp described in
Velocity Loop Limits (p. 122). In position mode, the amplifier is using the
Abort Deceleration rate described in Trajectory Limits (p. 131).
The output remains active until the amplifier is re-enabled.
Motor Brake Active
Motor brake activated. See Brake/Stop Notes (p. 53).
PWM Outputs Disabled
The amplifier’s PWM outputs are disabled.
Positive Software Limit
Actual position has exceeded the positive software limit setting.
See Homing (p. 145).
Negative Software Limit
Actual position has exceeded the negative software limit setting.
See Homing (p. 145).
Following Error
Following error has reached programmed fault limit.
See Following Error Fault Details (p. 91).
Following Warning
Following error has reached programmed warning limit.
See Following Error Fault Details (p. 91).
Position has Wrapped
The position counters have exceeded the maximum range of
-2
31
– 2
31
-1 and have wrapped. Normal amplifier operation is not affected.
Velocity Limited
The velocity command (from analog input, PWM input, or position loop)
has exceeded the velocity limit. See Velocity Loop Limits (p. 122).
Acceleration Limited
In velocity mode, motor has reached an acceleration or deceleration limit
that was set as described in Velocity Loop Limits (p. 122).
Pos Outside of Tracking
Window
The following error has exceeded the programmed value.
See Tracking Window Details (p. 92).
Home Switch Active
Axis has contacted the home limit switch.
In Motion
The motor is moving, or it has not yet settled after a move. The amplifier is
settled when it comes within the position tracking window and stays there
for the tracking time at the end of a move. Once this bit is set, it remains
set until a new move is started.
Vel Outside of Tracking
Window
Difference between target and actual velocity has exceeded the window.
See Tracking Window Details (p. 92).
Phase not Initialized
Amplifier is using Phase Initialization function and phase is not initialized.
Command Input Fault
See Fault Configuration Parameters (p. 88).