User Manual

Closed Loop Speed Mode
144 Advanced Digital Motor Controller User Manual V2.0 July 8 2019
Error Detection and Protection
The controller will detect large tracking errors due to mechanical or sensor failures, and
shut down the motor in case of problem in closed loop speed or position system. The
detection mechanism looks for the size of the tracking error (desired position vs. actual
position) and the duration the error is present. Three levels of sensitivity are provided in
the controller configuration:
1: 250ms and Error > 100
2: 500ms and Error > 250
3: 1000ms and Error > 500
When an error is triggered, the motor channel is stopped until the error has disappeared
or when the motor channel is reset to open loop mode. The error is cleared when a stop
command is issued.
Clearing the loop error make the motor available for moving again. However, this does not
mean that the loop error will not happen again. Configuration tuning is necessary in order
to prevent from having Loop Error again. The loop error value can be monitored in real
time using the Roborun PC utility.