AMCI SMD23E2 Series, Руководство пользователя

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SMD23E2 and SMD24E2 User Manual
M
OTION
C
ONTROL
31
Controlled and Immediate Stops
Once a move is started, there are several ways to stop the move before it comes to an end. These stops are
broken down into two types:

Controlled Stop: The axis immediately begins decelerating at the move’s programmed deceleration
value until it reaches the configured Starting Speed. The axis stops at this point. The motor position
value is still considered valid after a Controlled Stop and the machine does not need to be homed again
before Absolute Moves can be run.

Immediate Stop: The axis immediately stops motion regardless of the speed the motor is running at.
Since it is possible for the inertia of the load attached to the motor to pull the motor beyond the stopping
point, the motor position value is considered invalid after an Immediate Stop. The machine must be
homed or the position must be preset before Absolute Moves can be run again.
Host Control
Hold Move Command:
This command can be used with some moves to bring the axis to a Controlled Stop.
The move can be resumed and finished, or it can be aborted. Not all moves are affected by this command. The
section
Basic Move Types , starting on page 32, describes each move type in detail, including if the move is
affected by this command.
Immediate Stop Command:
When this command is issued from the host, the axis will come to an Immedi-
ate Stop. The move cannot be restarted and the machine must be homed again before Absolute Moves can be
run. Note that power is not removed from the motor.
Hardware Control
Stop Jog or Registration Move Input: Triggering this input type during a Jog Move or Registration Move
will bring the move to a controlled stop. The controlled stop is triggered on an inactive-to-active state change on
the input. Only Jog Moves and Registration Moves can be stopped this way, all other moves ignore this input.
CW Limit and CCW Limit Inputs: In most cases, activating these inputs during a move will bring the axis to
an Immediate Stop. The exceptions are the CW/CCW Find Home commands, the CW/CCW Jog Move com-
mands, and the CW/CCW Registration Move commands. The Find Home commands are explained in the ref-
erence section, Homing an SMD23E2 or SMD24E2 , which starts on page 55. The CW/CCW Jog Move
commands are fully explained on page 34, and the CW/CCW Registration Move commands are fully
explained on page 35.
Emergency Stop Input: It is possible to configure an input as an Emergency Stop Input. When an Emer-
gency Stop Input is activated, the axis will come to an Immediate Stop, regardless of the direction of travel.
The move cannot be restarted and the machine must be homed again before Absolute Moves can be run. Note
that power is not removed from the motor.