3.1.8.2.4 Quick stop
3.1.8.2.4.1 Overview
When the drive is in motion and the user wishes to stop quickly for any reason, the Quick Stop state can be
activated. This function uses a profile to drive the motor from the current velocity down to zero with a
specific Quick Stop deceleration. Quick stop can also be performed when an internal fault happens to stop
the drive in a controlled way.
Attention
Note that the brake might get damaged when the motor does not ramp down to zero velocity. This can
happen due to one of the following reasons:
when the motor is mechanically unstable
when the control system is unstably or poorly tuned
when the quick-stop feature is misconfigured
If no brake exists, this can even lead to a damaged motor!
Note
At the end of the quick stop procedure, the brake gets engaged when the drive is in
SWITCH_ON_DISABLED (mode 2). When the drive stays in QUICK_STOP_ACTIVE (mode 6) the brake is
not engaged by default.
3.1.8.2.4.2 Usage
Quickstop will be enabled if one of the following conditions occurs:
A drive fault is triggered
The drive dropped from EtherCAT Operational state while it was in CiA402 Operational Enabled state
switch the drive into different states
:
Option code Definition
0
Disable drive function (no quick stop deceleration)
2 (default)
Slow down on quick stop ramp and transit into switch on disabled
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