Kollmorgen AKD PDMM series, User Manual

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AKD PDMM User Guide | 10.3 Controlled Stop
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Either a controller or the user (through the EWV
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terminal window) initiates a software disable
(DRV.DIS) command .
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A fault initiates a controlled stop from the drive. See Fault and Warning Messages (pg 135) for the
faults which initiate a controlled stop.
The controlled stop mechanism is activated in the following cases:
1. DRV.DISMODE = 2 and user executes DRV.DIS from the terminal or EWV disable buttons.
You must disable the drive in order to set DRV.DISMODE.
2. DRV.DISMODE = 2 and user executes DRV.DIS from a fieldbus connected to the drive.
3. A fault happens for which the reaction evolves controlled stop (CS). After the CS is executed,
the drive disables.
4. A digital input mode (DINx.MODE) is set to 13. If the digital input state changes (active high or
low according to DINx.INV) the CS is executed, and then the drive disables.
5. HW limit switch: A digital input is defined as a positive (negative) limit switch (DINx.MODE 18
or 19). When the limit switch is met, the CS mechanism starts running. In this case, the param-
eter DRV.DISTO is not active.
6. SW limit switch: SWLS defines an active SW limit. When the limit is met, the CS mechanism
starts running. In this case, the parameter DRV.DISTO is not active.
Use the drive CS parameters to configure a controlled stop as follows:
1. CS.DEC: Deceleration ramp that is used for disable.
2. CS.VTHRESH: Velocity 0 threshold. The motor shaft is considered as stopped as soon as the
actual velocity (filtered through a 10 Hz filter, such as VL.FBFILTER) is within ±
CS.VTHRESH.
3. CS.TO: Velocity 0 time. The actual velocity must be consecutively within 0 ± CS.VTHRESH
for the time CS.TO, before the drive completes the CS process. This value is used since the
motor can overshoot out of the VEL0 window depending on the gains, deceleration ramp, motor
inertia and so on.
4. DRV.DISTO: Disable time out. This parameter sets an overall and independent running check
as to whether or not the drive can achieve the disable state. If the VEL0 window set in step 3 is
too small, it is possible that the drive may never reach the end of the CS process. The
DRV.DISTO parameter and functionality addresses this issue by disabling the drive after the
DRV.DISTO time elapses, even if the CS process did not end.
Controlled Stop Diagram
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66 Kollmorgen™ | December 2012