SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's Manual
PAGE 6-51
6.8 Fault Detection
6.8.1 Faults and User Indication in the T200
This sections outlines faults which are detected in the T200
6.8.1.1 Faults and Warnings
The T200 distinguishes between faults and warnings. Faults are those abnormal conditions that are of a serious enough
consequence to cause the T200 to halt operation. This will always result in removal of power from the T200 high power
amplifier, and will usually result in application of a motor brake, if present, with CAN and Point modes of functionality.
Warnings are those abnormal conditions that do not in themselves yet constitute a peril to the equipment or to personnel.
6.8.1.2 Fatal Faults and Non-Fatal Faults
The T200 distinguishes between two types of faults:-
§ Fatal Faults are those faults with which the T200 cannot continue to control the motor. The T200's reaction to a
fatal fault is to immediately disable the switching of the power amplifier. For example, if resolver position sensing
is lost, the motor cannot be commutated. The ability to control the motor output torque is therefore lost and the
T200 immediately disables high power from the motor.
§ Non-Fatal Faults are those faults which will likely lead to equipment failure or hazards to personnel, but the T200
is still capable of controlling the motor output torque. For example, a loss of CAN communication is treated as a
non-fatal fault, because the T200 can control a servo-stop of the motor. Non-Fatal faults lead to servo-stops of the
motor at the Emergency Deceleration Rate, and then the T200 high power amplifier is disabled.
Individual Fatal and Non-Fatal faults are described and categorised below.
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