Drive related protections (can be visualized in Drive Info dialog):

1. Over voltage – in case the motor supply voltage exceeds this value the power stage of the drive is disabled
2. Under voltage – the same as over voltage only that it works the other way around.
3. I2t for drive – this is designed to be a thermal protection – if the current in the drive is bigger than the nominal current of the drive, then the drive will start to heat up.
4. Over temperature – where a temperature sensor is present, a temperature threshold is set (usually this is the DSP thermal limit) to protect the drive.

Motor related protections (can be changed/visualized in Drive Setup dialog):

1. Over current – this is used along with drive’s current limit and I2t, to define which is the current level that is allowed through the motor (and drive) so that a proper functioning is ensured
2. Control error – this is used to further protect the system to abnormal behaviour, or in case the sensor information is no longer received by the drive (encoder cable gets disconnected, or cut off)
3. I2t for motor – same algorithm as for the drive.

There is also another protection – hardware – and that is the short-circuit protection which cannot be disabled, and will detect if a short-circuit on the motor outputs appears.

By default, the drive behavior in case a protection is triggered is to enter the fault state, and disable the power stage .
The fault is state means :
– the TML program execution is stopped
– the command to re-enable the motor outputs (AXISON) is ignored.

Hence, if a protection is triggered, then the user intervention is required before the system can start again.
However, this behavior is programmable, and you can change it if needed from EasyMotion Studio – you can for example program the drive to signal the error to the host, wait 10 seconds and the reset itself to re-start the program.