Mc_Stop_Isd51X - Danfoss VLT Series Programming Manual

Programming
For the inputs Velocity, VelocityOut, Acceleration, Deceleration, and BlockedVelocity, a value of 0 is not allowed and leads to an
error. This only applies to inputs that are required for the selected homing mode. The value of BlockedVelocity must be
smaller than the value of Velocity.
Required PLCopen® state
before start
Position
Velocity
VelocityOut
Acceleration
Deceleration
6 6
TorqueLimit
BlockedVelocity
BlockedDuration
TimeLimit
DistanceLimit
Table 6.38 Inputs marked with X must have a valid value

6.5.5.2 MC_Stop_ISD51x

This function block commands a controlled motion stop
and transfers the axis to the state Stopping. It aborts any
ongoing motion. When the axis is in state Stopping, no
other function block can perform any motion on the same
axis. After the axis has reached the velocity 0, the Done
output is set to TRUE immediately (see
chapter 7.20.2 Parameter 50-42: Target Reached Option Code
(0x2054)). The axis remains in the state Stopping for as long
as Execute is still TRUE, or until the target velocity 0 has
been reached. As soon as Done is set to TRUE and Execute
is FALSE, the axis changes to state Standstill.
AXIS_REF_-
ISD51x
BOOL Execute
UDINT Deceleration
Illustration 6.59 MC_Stop_ISD51x
This function block is primarily intended for emergency
stop functionality or exception situations. Calling this
function block in state Standstill changes the state to
Stopping and back to Standstill when Execute is FALSE. The
state remains as Stopping for as long as the input Execute
is TRUE. The Done output is set when the stop ramp is
finished.
200
®
VLT Integrated Servo Drive ISD
ddAbsolute_ISD51x ddPosBlock_ISD51x
ddNegBlock_ISD51x
Standstill or
disabled
–
–
–
–
–
–
–
–
–
–
MC_Stop_ISD51x
Axis
Done BOOL
Busy BOOL
CommandAborted BOOL
Error BOOL
ErrorInfo DD_ERROR_ISD51x
Danfoss A/S © 01/2017 All rights reserved.
®
510 System
ddPosLimSwitch_IS
or D51x or
ddNegLimSwitch_IS
D51x
Standstill Standstill
X X
X X
– X
X X
X X
X X
X –
X –
X X
X X
If this function block is aborted (by setting
MC_Power.Enable to FALSE), or if an error appears in the
axis, the blocking of the axis by this function block is
released immediately. In this case, it is not necessary to set
Execute to FALSE first to release the axis.
A value of 0 is not allowed for the Deceleration input.
The command is transferred and executed immediately.
ddPosHo- ddDirect_ISD51x
meSwitch_ISD51x
or ddNegHo-
meSwitch_ISD51x
Standstill Standstill or
disabled
X X
X –
X –
X –
X –
X –
– –
– –
X –
X –
MG36D102