7635

Enable Delay (AL-01 alarms)

Description of the problem:

Understanding the differences between enables in Config->Ports & Pins->Output Signals

Solution:

On the Apollo I there is a one second delay between each enable signal. However, on the Apollo III there is a very short (~1/2 second) delay between

Enable1

and any middle enables and a full second delay between the middle ones and the last one. So if a customer is getting an AL-01 (AL01 - undervoltage) it could be because their A axis is enabled and they are using

Enable3

for the drive enable. The short delay may not be long enough to avoid the alarm.