Delta Tau GEO BRICK DRIVE Manuale Utente
Geo Brick Drive User Manual
Pinouts and Software Setup
152
X15: Watchdog and ABORT (TB2)
X15 has two essential functions:
A 24VDC Abort Input (mandatory for normal operation) which can be used in various
applications to halt motion when necessary (i.e. opening machine door, replacing tool).
applications to halt motion when necessary (i.e. opening machine door, replacing tool).
A watchdog relay output allowing the user to bring the machine to a stop in a safe manner in the
occurrence of a watchdog.
occurrence of a watchdog.
X15: Phoenix 5-pin TB Female
Mating: Phoenix 5-pin TB Male
1
2
3
4
5
TB-5: 016-PL0F05-38P
Pin #
Symbol
Function
Notes
1
ABORT-
Input
ABORT Return
2
ABORT+
Input
ABORT Input 24VDC
3
WD N.O.
Output
Watchdog (normally open contact)
4
WD N.C.
Output
Watchdog (normally closed contact)
5
WD COM
Common
Watchdog common
Wiring the Abort Input
If an Abort toggle button is used, it must be a normally closed switch.
1
2
3
4
5
24VDC
Power Supply
COM
24VDC
Abort Input
Switch (optional)
The hardware Abort input functionality differs slightly from the software global Abort (CTRL-A)
command. The main differences are highlighted in the following table:
command. The main differences are highlighted in the following table:
Motor(s) Status
Before Abort Action
Software Abort
(e.g. ^A)
Hardware Abort
(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 remain killed.
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