ABB RPBA-01 Communication module

The effect of an Abort input is dependent on the state of the off-on-error function (OE) for each axis. If the Off-On-Error function is enabled for any given axis, the motor for that axis will be turned off when the abort signal is generated. This could cause the motor to ‘coast’ to a stop since it is no longer under servo control. If the Off-On-Error function is disabled, the motor will decelerate to a stop as fast as mechanically possible and the motor will remain in a servo state. All motion programs that are currently running are terminated when a transition in the Abort input is detected. For information on setting the Off-On-Error function, see the Command Reference, OE

Uncommitted Digital Inputs 

The general use inputs are TTL and are accessible through the ICM-2900 as XLATCH-WLATCH (inputs 1-4) and IN5-IN8. These inputs can be interrogated with the use of the command TI (Tell Inputs), the operand _TI, and the function @IN[n] (see Chapter 7, Mathematical Functions and Expressions).

Amplifier Interface 

The DMC-18x2 analog command voltage, ACMD, ranges between +/-10V. This signal, along with GND, provides the input to the power amplifiers. The power amplifiers must be sized to drive the motors and load. For best performance, the amplifiers should be configured for a current mode of operation with no additional compensation. The gain should be set such that a 10 Volt input results in the maximum required current. If the controller is operating in stepper mode, the pulse and direction signals will be input into a stepper drive.

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