Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018 355
Programmed Stop Mode
Usage Access Data
Type
Default Min Max Semantics of Values
Required - All
Set/
SSV
USINT 0 - - Enumeration
0 = Fast Stop (default)
1 = Fast Disable
2 = Hard Disable
3 = Fast Shutdown
4 = Hard Shutdown
The Programmed Stop Mode attribute determines how a specific axis will stop
when the Logix processor undergoes a critical processor mode change or when an
explicit MGS (Motion Group Stop) instruction is executed with its stop mode set
to 'programmed'.
There are currently four modes defined for the Logix processor: Program Mode,
Run Mode, Test Mode, and Faulted Mode. Any mode change into or out of
program mode (prog - >run, prog->test, run->prog & test->prog) will initiate a
programmed stop for every axis owned by that processor.
There is a time-out period of 60 seconds applied to the programmed stop process,
after which the mode change will occur, even if motion on one or more axes has
not stopped. Each individual axis can have its own Programmed Stop Mode
configuration independent of other axes. Five methods of stopping a given axis are
currently supported.
Method Description
Fast Stop
When the Programmed Stop Mode attribute is configured for Fast Stop, the axis is decelerated to
a stop using the current configured value for Maximum Deceleration. Servo action is maintained
after the axis motion has stopped.
Fast Disable
When the Programmed Stop Mode attribute is configured for Fast Disable, the axis is decelerated
to a stop using the current configured value for Maximum Deceleration. Servo action is
maintained until the axis motion has stopped at which time the axis is disabled, for example,
Drive Enable disabled, and Servo Action disabled.
Hard Disable
When configured for Hard Disable, the axis is immediately disabled, for example, Drive Enable
disabled, Servo Action disabled, but the OK contact is left closed. Unless the drive is configured to
provide some form of dynamic braking, this results in the axis coasting to a stop.
Fast Shutdown
When configured for Fast Shutdown, the axis is decelerated to a stop as with Fast Stop but, once
the axis motion is stopped, the axis is placed in the Shutdown state, for example, Drive Enable
disabled, Servo Action disabled, and the OK contact opened. Recovering from the Shutdown state
requires execution of one of the axis or group Shutdown Reset instructions (MASR or MGSR).
Hard Shutdown
When configured for Hard Shutdown, the axis is immediately placed in the Shutdown state, for
example, Drive Enable disabled, Servo Action disabled. Unless the drive is configured to provide
some form of dynamic braking, this results in the axis coasting to a stop. To recover from the
Shutdown state requires execution of one of the axis or group Shutdown Reset instructions
(MASR or MGSR).
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