Window Detectors
2 minute read
The Motorcortex Robot App contains a window detectors
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:
-
The
PositionWindow
monitors the absolute position of each axis. -
The
TrackingErrorWindow
monitors the tracking error of each axis, the difference between the commanded position and the actual position. -
The
VelocityWindow
monitors the velocity of each axis. The axis velocity is calculated by differentiating (and low-pass filtering) the position signal. -
The
AccelerationWindow
monitors the acceleration of each axis. The axis acceleration is calculated by differentiating (and low-pass filtering) the position signal twice. -
The
TorqueWindow
monitors the torque of each axis. -
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.