Alarms
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The Motorcortex Generic App contains a Alarms tab where signal levels can be defined to and trigger a Warning or Error.
Alarms can be enabled or disabled per axis by using the enable switch. By monitoring the value of an input signal a Warning or an Emergency Stop can be triggered. There are four trigger levels:
| Alarm | Description |
|---|---|
| Too Low | If the input signal is less than the too low value an Emergency Stop Error is triggered. |
| Low | If the input signal is less than the low value a Warning is triggered. |
| High | If the input signal is higher than the high value a Warning is triggered. |
| Too High | If the input signal is higher than the too high value an Emergency Stop Error is triggered. |
The following signals can be monitored:
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The PositionWindow monitors the absolute position of each axis.
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The TrackingErrorWindow monitors the tracking error of each axis, the difference between the commanded position and the actual position.
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The VelocityWindow monitors the velocity of each axis. The axis velocity is calculated by differentiating (and low-pass filtering) the position signal.
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The AccelerationWindow monitors the acceleration of each axis. The axis acceleration is calculated by differentiating (and low-pass filtering) the position signal twice.
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The TorqueWindow monitors the torque of each axis.
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The JumpDetector detects is there is a large jump in the commanded position signal. It looks at the difference between the current set point and the previous set point sample.