Estop functionality

15 years 2 months ago #4221954 by pmartin
Estop functionality was created by pmartin
When I hook up the Estop input (F) to the specified switch circuit, what is the behavior of the controller? Does it just shut off power to the FETs? Or is there something more complicated I need to worry about. I assume that by reset I would not need to cycle power; I could send the reset string (%rrrrrr) and everything should be fine.

Thanks

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15 years 2 months ago #4222000 by cosma
Replied by cosma on topic Re:Estop functionality
<P style="MARGIN: 0px">estop does the same as sending a command to zero, only quicker as it bypasses the acceleration/decelleration ramp.
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<P style="MARGIN: 0px">It actually does not turn all fets off, but has both fets of the upper Hbridge on. Essentially this shorts the motor, bringing it to a rather brutal stop.
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15 years 2 months ago #4230172 by pmartin
Replied by pmartin on topic Re:Estop functionality
On a related note to estop...if the controller itself is <span style="font-style: italic;">turned off</span>, will the motors be free moving?<br/>

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15 years 2 months ago #4233353 by cosma
Replied by cosma on topic Re:Estop functionality
If you turn off the controller, then all the MOSFETs are off and the motors are free wheeling. This is certainly a very acceptable, and actually more reliable, emergency stop mechanism.

BEWARE to turn off the controller by grounding the Power Control wire.

If you turn off by disconnecting the battery, there is a good chance that the controller will remain on for a little while, using the energy of the motor. Regeneration with no battery to take back the current in not desirable either.

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15 years 2 months ago #4292384 by pmartin
Replied by pmartin on topic Re:Estop functionality
I'm a little confused. So are you saying it is better to hook up powerand control like Figure 10 (p. 29) of the manual? I have the ability tosupply steady 12V to the power control input, but if grounding thatwill not actually turn off the controller and FETs, then I probablywant to go with figure 10. I will have a battery connected to the wholemotor system so regeneration is not a worry.
Thanks.

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15 years 2 months ago #4297986 by cosma
Replied by cosma on topic Re:Estop functionality
<P style="MARGIN: 0px">Either figure 10 or 11 will do. Figure 11 is for when you want to use the Power Control wire to turn off (grounding), or power using the separate power supply (connect to 12V). In either case, grounding will turn off the MOSFETs
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