User Manual

4 Advanced Digital Motor Controllers User Manual V2.0, July 8, 2019
Remote Emergency Power Disconnect ................................................... 37
Protection using Supervisory Microcomputer ......................................... 37
Self Protection against Power Stage Failure ............................................ 38
Safe Torque-Off (STO) ............................................................................... 39
Safe Torque Off (STO) on Roboteq Controllers ......................................... 40
Activating STO ......................................................................................... 40
Deactivating STO ..................................................................................... 40
Constraints when using STO ................................................................... 40
Sto Failure Messages .............................................................................. 40
Firmware implementation ........................................................................ 41
Installation – Maintenance ....................................................................... 41
STO Voltage source specification attention ............................................. 42
Compliance and Safety Metrics ............................................................... 42
Technical Data .......................................................................................... 43
SECTION 3
Connecting Sensors and Actuators to Input/Outputs ............................................45
Controller Connections ............................................................................ 45
Controller’s Inputs and Outputs ............................................................... 46
Connecting devices to Digital Outputs .................................................... 47
Connecting Resistive Loads to Outputs .................................................. 47
Connecting Inductive loads to Outputs .................................................... 47
Connecting Switches or Devices to Inputs shared with Outputs ............ 48
Connecting Switches or Devices to direct Digital Inputs ......................... 48
Connecting a Voltage Source to Analog Inputs ........................................ 49
Reducing noise on Analog Inputs ............................................................ 50
Connecting Potentiometers to Analog Inputs .......................................... 50
Connecting Potentiometers for Commands with Safety band guards ..... 51
Connecting Tachometer to Analog Inputs ................................................ 52
Connecting External Thermistor to Analog Inputs .................................... 53
Using the Analog Inputs to Monitor External Voltages ............................ 54
Connecting to RC Radios ......................................................................... 55
Connecting SSI Sensors .......................................................................... 55
SSI Sensors Overview ............................................................................. 55
Connecting the SSI Sensor ...................................................................... 56
Connecting Optical Encoders .................................................................. 56
Optical Incremental Encoders Overview ................................................. 56
Recommended Encoder Types ................................................................ 57
Connecting the Encoder .......................................................................... 58
Cable Length and Noise Considerations .................................................. 58
Motor - Encoder Polarity Matching .......................................................... 59
SECTION 4
I/O Configuration and Operation .............................................................................61
Basic Operation ......................................................................................... 61
Input Selection ......................................................................................... 62
Digital Inputs Configurations and Uses .................................................... 62
Analog Inputs Configurations and Use .................................................... 63