Table of Contents
Advertisement
3.14
Quick stop
With Quick stop defined in CiA 402, the servo motor can be stopped by the forced stop deceleration. For details of the forced
stop deceleration, refer to the following.
Page 114 Forced stop deceleration function
When the Quick stop command in [Controlword (Obj. 6040h)] is turned off, the servo motor decelerates to a stop in
accordance with the setting of [Quick stop option code (Obj. 605Ah)], following which the status changes to "Switch On
Disabled" (servo-off) or "Quick Stop Active" (servo-on maintained).
• When canceling Quick stop in the cyclic synchronous position mode (csp), update [Target position (Obj.
607Ah)] and [Position offset (Obj. 60B0h)] to [Position actual value (Obj. 6064h)]. If Quick stop is canceled
without performing position follow-up, unexpected movements such as sudden acceleration of the servo
motor may occur.
• When [Pr. PA04.3 Forced stop deceleration function selection] is set to "0" (forced stop deceleration
function disabled), the servo motor stops with the dynamic brake regardless of the setting value of [Quick
stop option code (Obj. 605Ah)].
• The Quick stop command is accepted only when the PDS state transition is in the "Operation Enabled"
state.
• This function can be used in the cyclic synchronous mode (csp/csv/cst), profile mode (pp/pv/tq), point table
mode (pt), JOG operation mode (jg), and homing mode (hm).
• In the torque mode or continuous operation to torque control mode (ct), the servo motor stops with the
dynamic brake without deceleration to a stop.
• If an alarm that causes forced stop deceleration has occurred during the deceleration stop operation with
Quick stop, the PDS state transition will shift to "Fault reaction active". After the servo motor stops at the
deceleration time constant of Quick stop, the servo-off state will be established.
• If a warning that causes forced stop deceleration has occurred during the deceleration stop operation with
Quick stop, the PDS state transition maintains "Quick stop active". After the servo motor stops at the
deceleration time constant of Quick stop, the servo-off state will be established.
• If a warning causes deceleration stop with Quick stop during the deceleration stop operation, the PDS state
transition will shift to "Quick stop active". After the servo motor stops at the deceleration time constant of the
deceleration stop caused by the warning, the servo-off state will be established.
• When the Quick stop command is turned off at the command stop of the controller, the command stop takes
precedence and the servo motor stops with the dynamic brake without deceleration to a stop.
3 BASIC FUNCTION
132
3.14 Quick stop
Advertisement
Table of Contents
