Firmware ≤ 05.00 - DMS 4.2 EN - 02/2010 L 373
8400 HighLine | Parameter setting & configuration
Basic drive functions (MCK)
Internal interfaces | System block "LS_MotionControlKernel"
8.2.3 Interface to safety system
For operation with optional safety system, the LS_MotionControlKernel
system block has
the wSMCtrl input, This interface is used to transfer a control word by means of which the
Motion Control Kernel can be supplied with information on requested or active safety
functions. The Motion Control Kernel then initiates the necessary motion sequence (e.g.
braking).
At the moment, only bit 0 in the wSMCtrl control word has a function. Additional functions
are in preparation:
Behaviour in case of request for "Safe Stop 1" (SS1)
The drive is brought to a standstill with the stopping ramp set in C02610/3
.
[8-2] Ramping down to standstill
If the request is reset during the down-ramping process (bit 0 = "1Ì0"), the behaviour
depends on the active operating mode:
In the Speed follower
operating mode, direct synchronisation with the target speed
takes place with the ramp time set in C02610/2
.
In the Homing
operating mode, ramping down is continued with the delay set in
C01251
for standard stop.
In the Manual jog
operating mode, the behaviour depends on whether the manual jog
initiator (bManJogPos or bManJogNeg) is still set:
In the Positioning
operating mode, the behaviour depends on the setting in C01216.
In the Position follower
operating mode, (forward) positioning to the signalled
absolute position always takes place if this position differs from the internal position.
Bit Designation Description
0 SafeStop1 "1" ≡ Request for "Safe Stop 1" (SS1).
1
...
15
Reserved In preparation - Still without function!
The time set in C02610/3 refers to the
down-ramping of the reference speed set in
C00011
.
If the current speed is lower, the time to
standstill is accordingly lower as well.
n
t
C00011
C02610/3
SS1
Bit 0
(SafeStop1)
bManJogPos
bManJogNeg
Behaviour
1 TRUE Ramping down to standstill
0 TRUE Accelerating to manual speed
0 FALSE Ramping down to standstill
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