10.10 Controlled Stop
In a controlled stop, drive motion is brought to a standstill in a controlled manner. The drive commands a zero
velocity from the motor. The motor decelerates at the prescribed deceleration value (CS.DEC).
A controlled stop can occur in four ways:
l The user configures a programmable digital input to mode 13 using DINx.MODE. For example, if
DIN1.MODE 13 is applied, digital input 1 is set to controlled stop.
l Either a controller or the user (through the WorkBench terminal window) initiates a software disable
(DRV.DIS) command .
l CANopen PDO is set to 3442.
CANopen Property Value
Index/Subindex 3442/0
Data Type Unsigned 8
Access W/O
PDO mappable N/A
Description Controlled stop
ASCII Object
l A fault initiates a controlled stop from the drive. See 17.1 Fault and Warning Messages for the faults
which initiate a controlled stop.
The controlled stop mechanism is activated in the following cases:
1. DRV.DISMODE = 2 and user executes DRV.DIS from the terminal or WorkBench disable buttons.
2. DRV.DISMODE = 2 and user executes DRV.DIS from a fieldbus connected to the drive.
3. A fault happens for which the reaction evolves controlled stop (CS). After the CS is executed, the drive
disables.
4. A digital input mode (DINx.MODE) is set to 13. If the digital input state changes (active high or low accord-
ing to DINx.INV) the CS is executed, then the drive disables.
5. HW limit switch: A digital input is defined as a positive (negative) limit switch (DINx.MODE 18 or 19).
When the limit switch is met, the CS mechanism starts running. In this case, the parameter DRV.DISTO
is not active.
6. SW limit switch: SWLS defines an active SW limit. When the limit is met, the CS mechanism starts run-
ning. In this case, the parameter DRV.DISTO is not active.
Use the drive CS parameters to configure a controlled stop as follows:
1. CS.DEC: Deceleration ramp that is used for disable.
2. CS.VTHRESH: Velocity 0 threshold. The motor shaft is considered as stopped as soon as the actual
velocity (filtered through a 10 Hz filter, such as VL.FBFILTER) is within ± CS.VTHRESH.
3. CS.TO: Velocity 0 time. The actual velocity must be consecutively within 0 ± CS.VTHRESH for the time
CS.TO, before the drive completes the CS process. This value is used since the motor can overshoot out
of the VEL0 window depending on the gains, deceleration ramp, motor inertia and so on.
4. DRV.DISTO: Disable time out. This parameter sets an overall and independent running check as to
whether or not the drive can achieve the disable state. If the VEL0 window set in step 3 is too small, it is
possible that the drive may never reach the end of the CS process. The DRV.DISTO parameter and func-
tionality addresses this issue by disabling the drive after the DRV.DISTO time elapses, even if the CS
process did not end.
AKD User Guide | 10 Configuring General Drive Settings
Kollmorgen | December 2010 107
To Next Page
Loading...
Need help?
General
