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- Roboteq Motor Controllers
- Controller Configuration & Operation
- MDC2460 with PLC controlled AGV
MDC2460 with PLC controlled AGV
The battery must be connected in permanence to the controller’s Red wire(s) or
VMot terminal via a high-power emergency switch SW2 as additional safety measure.
Partially discharged batteries may not blow the fuse, while still having enough
power left to cause a fire. Leave the switch SW2 closed at all times and open only
in case of an emergency. Use the main On/Off switch SW1 for normal operation.
This will prolong the life of SW2, which is subject to arcing when opening under
high current with consequent danger of contact welding.
So does this mean that i should use "SW1" to turn off my controller in a safety scanner violation situation or "SW2"? Currently i have designed the circuitry to remover power from "SW2" (Which is 2 safety rated motor contactor's 25 amps each wired in series for redundancy) in the event of any safety violation. I also have the brakes to each motor wired to Relays powered by DOUT1 and DOUT2. I would like to make sure that arcing is minimised and that the brakes are locked when motor power is removed if CTRL Power is not. Currently CTRL Power is switched by the manual disconnect. If the disconnect is on then CTRL Power is on.
Second Question is what would be the proper way over CANOpen to enable both motors at zero speed? My navigation controller sends me a command to enable each motor first before ever sending a command to move.
Thanks
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- Gabriel_Isko
The emergency condition that our documentation and nomenclature refers to a condition that can cause damage to the controller itself. It does not refer to a condition that poses safety risks. Therefore, there it is not recommended to shut off SW2 for human safety condition reasons. This will result in the controller floating FETs controlling it's output stage, and all connected motors will be able to spin freely. This is also true of an emergency stop.
In your application, you shouldn't turn off either contactor when there is an unsafe condition detected. Instead, you can implement a safety stop, which sets each motor output to 0, or implement your own safety routine. Just be careful - quickly shutting motor power to 0 can actually result in an emergency condition due to regeneration.
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- Gabriel_Isko
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- Gabriel_Isko
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Any recommendations on the second question in my original post? About just enabling the motors and sitting at zero speed over CANopen? I’m using SDO since I only have one controller on my CANopen network and I’m not really worried about bandwidth. It seems that the SDO is easier to use without having to scrip user variables. I just need to control a speed loop.
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- Gabriel_Isko
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- Forum
- Roboteq Motor Controllers
- Controller Configuration & Operation
- MDC2460 with PLC controlled AGV