4.3.1.2.3 Fault reaction ramp
The used set speed ramp at fault reaction can be parameterized via the following
objects.
Waiting time after the target speed has been reached
Source for abort of the fault reaction ramp => error
fault reaction ref velocity
Target speed of the fault reaction ramp
fr acceleration for [s-2]
max. acceleration at pos. speed
fr deceleration for [s-2]
max. deceleration at pos. speed
fr acceleration rev [s-2]
max. acceleration at neg. speed
fr acceleration rev [s-2]
max. deceleration at neg. speed
max. jerk at acceleration and neg. speed (start)
max. jerk at acceleration and neg. speed (end)
max. jerk at deceleration and pos. speed (start)
max. jerk at deceleration and pos. speed (end)
max. jerk at acceleration and neg. speed (start)
max. jerk at acceleration and neg. speed (end)
max. jerk at deceleration and neg. speed (start)
max. jerk at deceleration and neg. speed (end)
Ramp mode (s-curves, etc.)
fault reaction properties
Properties of the fault reaction ramp
If an error occurs, where Fault reaction ramp (dec ramp -> fault) is selected as
error reaction, the drive changes into state Fault reaction active.
The drive accelerates or decelerates with the adjusted ramps (pn48…pn60) to the
target speed (pn47 fault reaction ref velocity).
The possible settings for pn60 correspond to those in co60 and are described in
detail in chapter 4.8.2.4.3 Operating modes of the ramp generator
The waiting time after fault reaction time (pn45 fault reaction time) begins after
reaching the target speed.
After this time has elapsed, or if the selected terminating condition for the fault re-
action (pn46 fault reaction end src) is activated, the drive changes into state Fault.
The following picture shows an exemplary process of a fault reaction:
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