[Related FAQ: Torque Enable Inputs]
The IPA comes with a two-channel redundant Torque Enable circuit accessible through the X7 connector on the top of the drive. The drive ships with factory-installed jumpers to bypass this circuit as a convenience to customers who want to do initial bench testing or do not need this feature. To make use of the Torque Enable circuit, the jumpers will need to be removed and the two Torque Enable channels will need to be energized by an external 24 VDC power supply.
|CUST_24V||1||Control keep alive power|
|TRQ_EN1||2||Torque enable input 1|
|TRQ_EN2||3||Torque enable input 2|
|TRQ_EN_24V||4||Bypass power for TE (limited to 30mA)|
|ANALOG_IN0||5||Differential analog input 0 +/-10V|
|ANALOG_IN1||6||Differential analog input 1 +/-10V|
|CUST_COM||7||Common for control keep alive power|
|/TRQ_EN1||8||Torque enable input 1|
|/TRQ_EN2||9||Torque enable input 2|
|TRQ_EN_COM||10||Common for TRQ_EN_24V|
|/ANALOG_IN0||11||Differential analog input 0 +/-10V|
|/ANALOG_IN1||12||Differential analog input 1 +/-10V|
NOTE: TRQ_EN_24V (the IPA's Torque Enable bypass power supply) is limited to less than 30mA of current by hardware. It is meant only to bypass the Torque Enable functionality in applications that do not require its use. It is not meant to power external circuitry. Do not use pins 4 and 10 with anything other than the factory-supplied jumpers. [Link: Page 41 of the IPA Hardware Installation Guide]
An example wiring diagram is given below. This diagram shows the 24 VDC supply circuit being interrupted by a contact. If the circuit opens, the motor will immediately lose torque.
NOTE: The diagram below is an example. While it is electrically valid, different industries and regions have varying safety requirements. Refer to applicable safety standards to determine what is appropriate for your application. [Link: Page 6 of IPA Hardware Installation Guide]
It is important to note that opening the Torque Enable circuit WILL NOT bring the motor to a controlled stop. If the motor is moving when the Torque Enable circuit is opened, it will continue to move until it is stopped by an external force. This is a particularly important consideration for vertical axes as well as axes that move at high speed.