Control Techniques Nidec SI-EtherCAT User Manual page 63

7.3.2 0x605A Quick stop option code
This object indicates what action is performed when the quick stop function is executed. The slow
down ramp is the deceleration value of the used mode of operations.
Table 7-8 Quick_stop_option_code
0x605A Quick_stop_option_code
Access: RW
Default: 2
PDO Mappable: No
Motion Profiles: ALL
Description: Specifies what action is performed in the event of a quick stop function.
Table 7-9 Quick stop value definitions
Value Definition
0 Disable drive function
1 Slow down on slow down ramp and transit into Switch on disabled
2 Slow down on quick stop ramp and transit into Switch on disabled
5 Slow down on slow down ramp and stay in Quick stop active
6 Slow down on quick stop ramp and stay in Quick stop active
Option Code 1 and 2 will also wait for the brake to engage before Switch Off, if drive parameter
12.041 is enabled.
The Ramp rate used can be over-ridden by setting the EtherCAT comms parameter
NOTE
S.03.010 to "Controlled Stop". When set to "Controlled Stop" the ramp profile used is
that defined by Pr 02.028 "Deceleration Rate 8" and the ramp will have been initiated by
clearing the Run bit in Pr 06.042. This is different to the default stopping mechanism
which is profile specific.
The speed of reaction to a Quick Stop command depends on several factors:
• The profile Mode. Currently only Quick Stop in CSP, CSV, CST and Homing have a very
fast reaction, in other profile modes it is the time to perform one background loop of the
CiA402 state machine (40 ms)
• For CSP only, the State of the fault reaction object (Fault reaction ramps are pre-
configured in the drive AMC and a change of ramp requirement takes time to configure)
• If Controlled Stop is enabled the reaction time is up to 2 ms (update rate of Pr 06.042).
Table 7-10 CSP Quick Stop reaction time
CSP Quick Stop
reaction time
0
0 Within a network cycle
1
Within a network cycle
2
Within a network cycle
5
Within a network cycle
6
Within a network cycle
SI-EtherCAT User Guide
Range: 0 to 6
Fault Reaction Option code
1
Within a network cycle
Within a network cycle
4 ms (if slow down ramp is
different to quick stop ramp)
Within a network cycle
4 ms (if slow down ramp is
different to quick stop ramp)
Size: 2 bytes
Type: Signed Integer / INT
Update Rate: Before applying Quick Stop
2
Within a network cycle
4 ms (if slow down ramp is
different to quick stop ramp)
Within a network cycle
4 ms (if slow down ramp is
different to quick stop ramp)
Within a network cycle
Unit: N/A
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