3.1.8.2.4.2.1.3 Option code: 6 (Slow down on quick stop ramp and stay in quick stop
active)
1. The Drive commands a quick stop ramp that ramps down an effective commanded velocity according to
.
2. The end of the quick stop ramp is a moment when the commanded velocity is equal to 0.
3. After the end of the quick stop ramp, the drive continues to stay in Quick Stop Active until a command to
disable the drive is received. In position control modes (
Cyclic Synchronous Position mode
), Quick Stop Active drive keeps the current position.
In velocity control modes (
Cyclic Synchronous Velocity Mode
), the drive controls 0
velocity.
Attention
The brake is not engaged by default in this state.
3.1.8.2.4.2.2 Torque control mode
In torque modes (
Cyclic Synchronous Torque mode
) the quick stop procedure does not
use a profile. Instead, the drive commands 0 torque from the start of the quick stop procedure. The steps
vary depending on the quick stop option code and when quick stop is triggered:
3.1.8.2.4.2.2.1 Option code: 0 (Disable the drive)
Note
In this case, the drive does not perform the quick stop deceleration ramp and is instead immediately
disabled.
3.1.8.2.4.2.2.2 Option code: 2 (Slow down on quick stop ramp and transit into switch on
disabled)
1. The Drive commands Target and offset torque
2. At the same moment, the timeout period starts. The timeout period is calculated as actual motor velocity
divided by the quick stop deceleration. In this way, a user can configure the maximum duration of the
quick stop procedure.
3. During the timeout period, the drive monitors if the drive reaches zero velocity
4. The brake gets engaged and the drive is set to state Switch On Disabled, if one of the conditions are true:
The actual velocity of the motor reached 0
The timeout period has expired
Synapticon Documentation
© 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01
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