Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018 285
Enum. Usage Name Description
4 Required (BD) Stop Drive
Stop Drive action results in the drive device (D) both setting the
associated bit in the Axis Faults word and bringing the axis to a stop
based on the factory set "best" available stopping method. This
"best" stopping method includes both the method of decelerating
the motor to a stop and the final state of the power structure given
the expected level of control still available. The level of axis control
available depends on the specific exception condition and on the
configured control mode.
The available deceleration methods are defined by the Stopping
Action attribute. (See the Stopping Action section following this
table for additional information.)
If the application requires exception action that is a more severe
stopping action than the factory set "best" method, the controller
will initiate that action.
If the application requires an exception action that is less severe
than the factory set "best" method, the controller will configure the
device axis instance for a Minor Fault exception action and handle
the fault directly. This may put device and motor components at risk
and is only be allowed by the device when there is an opportunity
for the device to remain operational. This is important in
applications where th
e value of the product is higher than the value
of the motor or device.
When the Stop Drive exception action is applied to a converter
device (B), stopping action is not applicable (0 = No Action). The
final states of Disable or Shutdown for the converter are applicable,
however, with Shutdown executing the configured Shutdown
Action. In the Shutdown case, the DC Bus Unload bit of the
converter's Axis Status attribute is set to generate a Bus Sharing
exception on all drives in the converter's Bus Sharing Group.
When multiple major faults occur with different stopping actions,
the most severe of the associated stopping actions is applied, that
is, the stopping action that requires the lowest level of control
functionality. This rule also applies to the Stopping Action
associated with a Disable Request.
5 Required (All) Shutdown
While the final axis state after a Major Fault is the Major Faulted
state, the Shutdown Exception Action forces the power structure
into the Shutdown state, immediately disabling the drive's power
structure. If Shutdown Action is configured to do so, this action also
drops DC Bus power to the drive's power structure. Therefore, the
Shutdown action overrides the drive's best stopping method. An
explicit Shutdown Reset is required to restore the drive to an
operational state.
6-254
Reserved -
255
Unsupported
The Unsupported Exception Action is the value assigned to
Exceptions that are not supported by the device. Trying to assign an
Exception Action other than Unsupported to an exception that is not
supported by the device results in an "Invalid Attribute Value"
service error code (0x09).
Stopping action
Standard stopping actions, listed in decreasing levels of deceleration control, are as
follows:
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