User manual

Barrett Technology, Inc.
BA4-310 System User Manual Version 1.1
12
Table 1 - Safety Circuit fault conditions and results
Conditions Display Result
Any of the motor controllers experience a
controller fault. See section 7.1 of the
Kollmorgen ServoStar Installation and Setup
Manual.
The red Drive Fault LED will turn on.
Any of the controllers exceed the
predetermined velocity limits (over velocity
fault)
The red Over Velocity Fault LED corresponding
to the motor that exceeded the maximum
velocity will turn on.
Logic power reduces to less than 4.4 V The green Logic Voltage Ready LED will turn
off.
The Emergency-Stop button is pressed The red User Generated E-Stop LED will turn
on.
User I/O sends a low active signal from the
computer.
The red Software Generated E-Stop LED will
turn on.
During system power-up. All LED’s will be off.
During system power-down. All LED’s will be shut off.
When the Safety Circuit shuts the system down the following occurs:
•
All of the drives are disabled.
•
3-phase power is cut from the Motor Power Supply that generates the 325V DC Bus.
•
The Bus + is disconnected from the current amplifiers.
•
The Bus + on the side of the current amplifiers is shunted across a regenerative resistor to
Bus –.
•
A 10-second drain period is required before the Reset button can be activated to return the
system to normal operation.
Adjusting the potentiometers located on the front of the cabinet, labeled
Velocity Limits
in
Figure 3, will set (in hardware) the maximum velocity for each arm motor. Use Equation 1or
Equation 2 to calculate the desired value for each potentiometer.
()
Value
MaxSpeed
=
10*
204800
Equation 1:
MaxSpeed
measured in encoder counts/second
()
Value
MaxSpeed
=
10*
3000
Equation 2:
MaxSpeed
measured in RPM.
Note: The value on the potentiometer is an approximate maximum velocity. The values are
accurate to approximately +/- 1 revolution per second.
1.8 Adaptor Box
The adaptor box is used to convert the Motion Engineering signals to a minimum number of
cables and with pinouts that match the BFC-200 Control Cabinet. The adaptor box is a simple