Reaction to “Control Shutdown”
The "shutdown option code" parameter determines which action is to be executed at
the transition from "Operation enable" to "Ready to Switch on" (state machine state 5
to 3).
Reaction to “Disable Operation"
The "disable operation option code" parameter determines which action is to be
executed at the transition from "Operation enable" to "Switched on" (state machine
state 5 to 4).
Reaction to "Halt"
The "Halt" command interrupts a movement. The drive remains in the "Operation
enable" state. When the "Halt" command is cancelled the interrupted movement is
completed.
Reaction to “Quickstop”
If the drive needs to be shut down as rapidly as possible due to a malfunction, it must
be run down to speed zero on an appropriate ramp. The "Quickstop" function brakes
an ongoing movement differently from the normal braking ramp. The servo drive is in
the "Quickstop" system state. This state can be quit during or after braking,
depending on the status of the quick-stop command and the respective reaction.
ID
Index Name
Unit
Description
2218
0
MPRO_402_QuickStopOC
605AH DS402 quick-stop option code
2219
0
MPRO_402_ShutdownOC
605BH DS402 reaction to control shutdown
2220
0
MPRO_402_DisableOpOC
605CH DS402 disable operation option code
2221
0
MPRO_402_HaltOC
605DH DS402 halt option code
2222
0
MPRO_402_FaultReactionOC
605EH DS402 fault reaction option code
2242
0
MPRO_402_QuickStopDec
rev/min/s 6085H DS402 quickstop deceleration
Table 8.19: “Motion profile - Stop ramps” parameters
MOOG
ID No.: CB40859-001 Date: 11/2020
MSD Servo Drive - Device Help
249
8 Motion profile
8.5 Homing
Homing serves to establish an absolute position reference (referred to the entire
axis), and must usually be performed once after power-up. Homing is necessary
when absolute positioning operations are carried out without absolute encoders
(e.g. SSI multi-turn encoders). For all other positioning operations (relative, infinite)
no homing is required. For zero position adjustment of absolute encoders homing
method -5 is available. There are various methods, which can be set according to
the application.
The selection of a homing method defines:
l
The reference signal (positive limit switch, negative limit switch, reference
cam)
l
the direction of the drive
l
The position of the zero pulse.
8.5.1 Homing screen
The homing movement is dictated by the speed (velocity) V1 and V2, the
acceleration and the maximum positioning range.
