Window Detectors

Window detector tab explained

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.
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The following signals can be monitored:

  1. The PositionWindow monitors the absolute position of each axis.

  2. The TrackingErrorWindow monitors the tracking error of each axis, the difference between the commanded position and the actual position.

  3. The VelocityWindow monitors the velocity of each axis. The axis velocity is calculated by differentiating (and low-pass filtering) the position signal.

  4. The AccelerationWindow monitors the acceleration of each axis. The axis acceleration is calculated by differentiating (and low-pass filtering) the position signal twice.

  5. The TorqueWindow monitors the torque of each axis.

  6. 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.

Last modified June 9, 2022: Updated robot app (7d4ee2c9)