Delta RMC101 - Manual (Page 870)

RMC100 and RMCWin User Manual
D-8
Bit 15 (MDT, SSI, Analog, Resolver) - No Transducer
This error bit is set to indicate that the transducer is not responding.
For MDT and SSI transducers, this occurs when the transducer does not respond within six
control loop times (a total of 6 or 12 ms).
For Analog transducers, this occurs when the analog counts are below a certain value depending
on the input and axis types as described in the Transducer Counts topic.
For resolvers, this occurs when the module is not able to determine a valid position. Possible
reasons include the RMC case not properly grounded, or actual accelerations or speeds are too
high. See the Resolver Specifications topic for details.
This error bit is cleared when any of the commands listed above is issued, and the transducer is
now present.
The RMC can be configured to automatically stop on the rising edge of this bit by using the Auto
Stop parameter.
Bit 15 (QUAD or STEP) - Encoder Error or Fault Input
This status bit can represent either an encoder error or a Fault input error. The user configures
which of these two conditions is reported by this status bit, and thereby also determines which
can be used to trigger an Auto Stop. There are four options:
• Encoder Error only. This bit will go high if the encoder circuitry detects an error, which is
defined as an invalid transition of the A and B lines. This usually occurs due to over-speed or
noise conditions.
• Fault Input only. This bit will go high if the Fault input goes active. The Fault input is intended
to be a means of the drive amplifier letting the RMC know that it no longer has control. If the
Fault input is not used, it should be made inactive by wiring or by reversing the polarity in the
Configuration Word parameter.
• Encoder Error or Fault Input (default). This bit will go high if either of these conditions occurs.
This is the default behavior for QUAD and STEP axes, but does leave it ambiguous as to
whether the error was triggered due to an encoder error or the Fault input.
• Unused. This bit will always be low.
See Quadrature Configuration or Stepper Configuration for details on defining this bit.
This error bit is cleared when any of the commands listed above is issued, and the underlying
error condition is no longer present.
The RMC can be configured to automatically stop on the rising edge of this bit by using the Auto
Stop parameter.
Bit 14 (MDT, SSI, Analog, Resolver) - Transducer Noise
This error bit is set when the RMC detects persistent noise on the transducer. Noise is defined by
the position read from the transducer jumping by more than 100 position units in a millisecond.
Notice that this error bit does not occur on analog position reference, analog velocity control or
reference, analog pressure or analog differential force axes. That is, it only occurs on MDT, SSI,
and analog position control axes.
For the first five control loops that the transducer position is outside this range, the RMC will
approximate the Actual Position using the current Actual Speed value and continue control
normally. If the noise persists on the sixth control loop, then the Transducer Noise error bit is set.