Hallo,
The accepted wisdom with commutator d.c. servo motors was always to
have a contactor break the motor wires and short the motor armature
through a resistor. The shorting of the armature works as a brake to
stop the motors reasonably quick. The resistor in series is needed so
the armature shorting current does not become greater than the
demagnetizing current of the permanent magnets. 2 or 3 times maximum
stall current should be ok.

On modern 3 phase servos this arrangement has fallen away since a
rotating field is needed to move the motor. I am not familiar with the
exact arrangement in those installations.

Jan de Kruyf.


On Mon, Apr 5, 2010 at 3:38 PM, Erik Christiansen
<dva...@internode.on.net> wrote:
> I'm about to wire in an NVR (No-Volt Release), i.e. a latching relay,
> set by a momentary pushbutton [1], but have a couple of questions:
>
> A) Is it safe to interrupt Motor Power to my 7i40s, with hairy great
>   inductive motors on their outputs? (OK, mostly resistive under load,
>   but then back EMF might also be deadly if V+ is open-circuited?)
>
>   I can't use the 7i40's active low enable inputs, because they're in
>   the ribbon cable to the 5i20.
>
>   That means we have to go via the 7i37 inputs and the EMC2 software,
>   if we're to avoid potentially stressing the 7i40s.
>
>   Ah ... maybe interrupt Motor Power before the filter capacitors? That
>   leaves somewhere to dump back EMF, and should be gentler on the
>   H-bridges. (A bit rough on a relay though, with zero volts on the
>   capacitors at start-up. A fat MOSFET would handle it better.)
>
> B) What about a charge-pump? i.e. Estop if the controller goes down or
>   loses the plot. Or does the 5i20 do that in the FPGA?
>
>   I've read the "5i20 Anything I/O Manual", but the Hostmot2 section is
>   a bit thin. (Re the wiki, see below.)
>
>   But even if the 5i20 does disable the 4 H-bridges, that still leaves
>   the spindle whirring away. Does it tell EMC, so that I can
>   "net estop-out => some_7i30_output", to interrupt the Estop chain,
>   and cut spindle power as well?
>
> Finding only http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?EstopChain in
> the wiki, which just points to
> http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?MazakEstopChain , I wonder
> if:
>
> C) Is the HAL "estop latch" mentioned there just FYI? Point 26 raises
>   the issue of ESTOP_RESET, but point 27 says "ESTOP_RESET comes from
>   the core of EMC, and is asserted when the machine is taken out of
>   ESTOP (by hitting F1)."
>
>   So there appears to be no physical input needed for that. (But maybe
>   I should spraypaint F1 green.)
>
> D) Have I missed (in the wiki) a concise schematic showing a typical
>   Estop chain, useful relay contacts, and estop-in & estop-out wiring
>   and HAL config? Or is that a ToDo that I'm cheerfully walking into?
>   ;-)
>
> I hope that I'm expressing all that clearly, it's nearly midnight here.
>
> Erik
>
> [1] I'll try to use the existing Big Red Button on the mill, even if I
>    have to add a relay in the control box, to gain a free pair of
>    output contacts to go to the Estop chain.
>
> --
> You really HAVE to have a hardware E-stop!
>                                    - Jon Elson on emc-users, 14 Jun 2008.
>
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