No experience on commercial systems. But I agree, a servo fault throwing
e-stop wouldn't be the best. The behaviour that seems standard on fault is
that the machine goes to power off which removes enable from all the other
axis and spindle is effective and limits the chaos to a reasonable level
and makes recovery possible.
That would be especially important for servo drives that don't have
separate control and power inputs where in an e-stop you'd be forced to
kill all drive power, encoder counting probably stops happening, position
info is lost and you're stuck re-homing or whatever else is required to
check your offsets.
-Dave
On Wed, 10 Feb 2021 00:08:41 -0500, John Dammeyer <jo...@autoartisans.com>
wrote:
Quick question.
There's a multi-axis operation in progress. For whatever reason one of
the servos throws out a fault and of course stops.
Should just the enables to the other servo drives be removed or should
power be cut to all drives.
I'm not really in favour of dropping out power because that would mean
you also lose the ability to easily recover. The other drives and
spindle were working so you really just want them stopped and things
like coolant shut off.
This isn't the same as an ESTOP which does remove all power that could
result in motion. Low voltage control and PC are left running.
For my PMDX-126 BoB my faults are consolidated and brings the PMDX
/FAULT input low. That disables the ChargePump which in turn disables
all outputs including the enable to all the drive. And the orange
button beside the red one on the user screen goes greyed out.
After 4 seconds the /FAULT input is once again brought high (inactive)
and now the orange ENABLE button on the screen (or F2) can be clicked
which then asserts the ENABLE output to the drives and allows hardware
to be controlled again.
For my servos taking the ENABLE signal FALSE and then TRUE resets the
FAULT condition. If the fault is still there then the /FAULT is
brought low again. Etc...
What do other systems (including commercial) do when a drive faults on
one axis.
John
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