Safety inputs

The CMD-2ED-SA has no dedicated E-Stop input. Limit inputs stop motion in their direction, and the host or A-SCRIPT program can stop all motion and disable the drivers. To remove motor torque in an emergency, switch off the motor supply (J5) with an external safety-rated device.

Note: The CMD-2ED-SA does not provide a certified safety function (no SIL/PL rating). The machine builder is responsible for the overall safety system.

Fault detection

Each driver protects itself with thermal shutdown (160 °C typical junction temperature), over-current shutdown (7.2 A typical) and motor open-load detection. These faults are not reported to the controller: a driver that has shut down stops driving its motor without a status change at the host. Use StepNLoop with an encoder, or limit and home checks, to detect lost motion. The supply inputs have resettable fuses (Section 9.4).

Homing

The controller offers 13 homing routines using the home input, the limit inputs and/or the encoder index, at high or low speed. See [2] for the sequence of each routine.

Power-up, reset and power-loss states

Output

At power-up and during controller reset

Logic power (J3) off

Digital outputs DO1–DO8

off (hardware)

off (hardware)

Driver enable

enabled (hardware pull-up) until the controller disables it

enabled while motor power is on

Step pulses

none

none

Microstep resolution

1/128 (mode lines pulled high) until set by command; a fitted J9/J6 jumper holds its line low

1/128, modified by any fitted J9/J6 jumper

Operating note

Motors are energized at holding current whenever motor power is applied, including when logic power is off or the controller is in reset. Apply motor power only when the machine can safely hold position.