Elmo Computer Hardware 1.1 User Manual
A.1.6 Input/Output
•
One Analog Input – up to 14-bit resolution
•
Six separate programmable Digital Inputs, optically isolated (two of which are fast
event capture inputs).
event capture inputs).
Inhibit/Enable motion
Software and analog reference stop
Motion limit switches
Begin on input
Abort motion
Homing
General-purpose
Software and analog reference stop
Motion limit switches
Begin on input
Abort motion
Homing
General-purpose
•
Four separate programmable Digital Outputs, optically isolated (open collector)
one with fast output compare (OC):
one with fast output compare (OC):
Brake Control
Amplifier fault indication
General-purpose
Servo enable indication
Amplifier fault indication
General-purpose
Servo enable indication
•
Pulse and Direction inputs (single-ended)
•
PWM current command output for torque and velocity
A.1.7 Built-In
Protection
•
Software error handling
•
Abort (hard stops and soft stops)
•
Status reporting
•
Protection against:
Shorts between motor power outputs
Shorts between motor power outputs and power input/return
Failure of internal power supplies
Over-heating
Shorts between motor power outputs and power input/return
Failure of internal power supplies
Over-heating
Continuous temperature measurement. Temperature can be read on
the fly; a warning can be initiated x degrees before temperature disable
is activated.
is activated.
Over/Under voltage
Loss of feedback
Loss of feedback
Following error
Current limits
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A-2