ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference - Manual (Page 232)

Command Description
IL[N] Input logic. Defines digital inputs as stop and limit switches.
LC Limit current indication that indicates whether peak limit is active.
LL[N] Protection low limits for position and speed feedback.
MF States reason for a motor automatic shutdown.
OL[N] Output logic. Programs digital outputs as brake activation or as
drive ready indication.
PL[N] Peak current limit.
PS Program status.
SR Status register. Gives SimplIQ drive status, including if motor is shut
down by exception or if a Stop switch has been hit.
VH[N] Command high limits for position and speed reference.
VL[N] Command low limits for position and speed reference.
Figure 5-1: Commands Relevant to Limits, Protection and Diagnosis
CANopen offers an additional protection level: emergency objects issued in cases
of errors or applied protections (refer to the Elmo CANopen Implementation Manual).
5.1. Current Limiting
The drive protects the motor from over-current using a two-stage method. The motor
maximum peak current (given by PL[1]) is available for the peak duration time (specified
by PL[2]), while for longer periods, the current is limited to its continuous limit (CL[1]).
The current limiting process is dynamic: If the current has been close to its continuous
limit, the time allowed for the peak current is reduced.
The following block diagram shows the current limiting mechanism:
SimplIQ for Steppers Application Note Commutation and Pole Identification
MAN-STECR (Ver. 1.1)
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