The IPA provides dual Torque Enable channels as a means of preventing the drive from delivering rotational force to its connected electric motor or linear force for a linear motor. To ensure a high degree of safety, two independent Torque Enable control channels are implemented in hardware. The Torque Enable circuit in the IPA is designed such that a fault in one control channel will not affect the other channel's ability to prevent the drive from starting, i.e. the Torque Enable function of the IPA drive is tolerant to any single fault. It may not be tolerant to an accumulation of faults. If one or both Torque Enable control inputs requests the torque to be disabled, the drive will not start, even if the drive's software malfunctions and tries to cause the motor to turn.
The Torque Enable function is implemented in hardware and overrides all software activities. The only software involvement is to report torque status to the user via error and fault bits.
The Torque Enable terminals are on the Auxiliary connector on the top of the IPA (x7 connector).
The IPA ships with jumpers (22AWG solid) so that with no additional connections, users may enable the IPA from the user programs or within ACR-View's configuration Wizard during setup.
These jumpers connect the TRQ_EN_24V to the TRQ_EN1 and TRQ_EN2 and the commons together. (This is limited to 30mA so this is only designed for these jumpers.)
These are redundant inputs and should both be set or cleared within 1.6seconds of each other. From this, the IPA can be software enabled.
If the inputs stay opposite longer than 3 seconds, the drive faults and requires cycle power (or REBOOT from ACR-View) and cannot be software enabled.
State Diagram showing operation:
The torque enable status are shown in ACR-View's Common Status Panel.
The bits for these are 10009 Torque Enable Fault; 10010 Torque Enable Open; 10011 Torque Enable Health Event.
For the drive enabled:
The torque enable status are shown in ACR-View's Common Status Panel. For the torque enable inputs open:
The torque enable status are shown in ACR-View's Common Status Panel. For the torque enable inputs opposite:
status state machine