Delta Tau GEO BRICK LV User Manual
Geo Brick LV User Manual
PinOuts and Software Setup
145
The hardware Abort input functionality differs slightly from the software global Abort (^A) command.
The following table summarizes the differences:
The following table summarizes the differences:
Motor(s) Status
Before Abort Action
Software Global Abort
^A Action
Hardware Abort Trigger
Action (Removing 24VDC)
Killed
(Open-Loop mode)
Closes the position-loop on
all active (Ixx0=1) motors
No Action is taken.
Motors remain killed
Amplifier Enabled
(i.e. #1o0, Open-Loop mode)
Closes the position-loop
on all active (Ixx0=1) motors
Closes the position-loop on all
‘amplifier enabled’ motors only.
Killed motors are not affected
Servo-ing – in position
(Closed-Loop mode)
Motor(s) remain in
closed-loop at velocity zero
Motor(s) remain in closed-loop
at velocity zero
Servo-ing – Jogging
(Closed-Loop mode)
Motor(s) decelerate to zero
velocity at Ixx15 rate
Motor(s) decelerate to zero
velocity at Ixx15 rate
Servo-ing – Running Program(s)
(Closed-Loop mode)
Aborts motion program(s)
and decelerate to zero
velocity at Ixx15 rate
Aborts motion program(s) and
decelerate to zero velocity
at Ixx15 rate
Wiring the Watchdog Output
Watchdog Output,
Normally Open
Watchdog Output,
Normally Closed
1
2
3
4
5
24 VDC
Power Supply
COM 24VDC
Logic device
(safe shutdown)
COM 24VDC
1
2
3
4
5
24 VDC
Power Supply
COM 24VDC
Logic device
(safe shutdown)
COM 24VDC
Operation
Mode
Connection between pins
#5 and #3
Connection between pins
#5 and #4
Watchdog
Not triggered
(normal operation)
Open
Closed
Triggered
(Faulty operation)
Closed
Open