Stop command triggered by ...
Specific reaction
–
Record table
–
The motion command is aborted.
–
The drive is braked down to a stop using the parameterised
stop ramp of the command record.
–
If the standstill monitoring (STC signal
è
5.7 Standstill monitoring) detects that the drive has
stopped moving on conclusion of the stop ramp, the closed-
loop controller holds the drive at that position.
–
Device profile (direct)
or
–
device-specific plug-in
or
–
Diagnostic event of stop
cat. 2
–
The motion command is aborted.
–
The drive is braked down to a stop using the parameterised
stop ramp.
–
If the standstill monitoring (STC signal
è
5.7 Standstill monitoring) detects that the drive has
stopped moving on conclusion of the stop ramp, the closed-
loop controller holds the drive at that position.
–
Diagnostic event of stop
cat. 1
or
–
Removal of controller
enable
–
The motion command is aborted.
–
The drive is braked down to a stop using the defined stop
ramp.
–
If the standstill monitoring detects that the drive has stopped
moving on conclusion of the stop ramp, the brake locks and
the closed-loop controller switches off after the elapse of the
parameterised delay (Px.21 and Px.23
è
The drive is switched off directly at standstill without brake.
–
The drive is uncontrolled.
–
Diagnostic event of stop
cat. 0
–
The motion command is aborted.
–
The output stage is switched off.
–
The brake locks on drives with brake. Without a brake the
drive runs down.
–
The drive is uncontrolled.
Tab. 226 Specific reactions to the stop command
Detailed information on the general fault reactions to diagnostic
events
è
9.2 Classification of diagnostic events.
The stop ramps are executed with the aid of the trajectory generator. If a stop is triggered, the current
motion command or the cyclic synchronised operation is aborted and a stop ramp with end velocity 0
is calculated (parameters for the stop ramp
è
Tab. 227 Parameters). The closed-loop controller is
switched to velocity control to execute the stop ramp.
With a stop via the record table or a category 2 stop:
–
If the standstill monitor detects that the drive has stopped moving, the closed-loop controller
switches to position control and used the actual position value as the new setpoint quantity.
Motion control
252
Festo — CMMT-ST-SW — 2019-02
Summary of Contents for CMMT-ST-SW
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