36610 AX_EMERGENCY_STOP_TIME A05 TE3, K3, A2, A3, N2, Z1
s Maximum time for braking ramp in case of error. DOUBLE NEW CONF
-
- - 0.05 0.0 1.0e15 2/2 M
Description: This MD defines the braking ramp time that an axis or spindle requires to brake from
maximum velocity/speed to a standstill in the event of errors (e.g. emergency stop).
At the same lead/brake acceleration, standstill is reached correspondingly earlier
from lower velocities/speeds.
Mechanically robust axes are normally stopped abruptly with speed setpoint 0; values
in the lower ms range are appropriate in these cases (default setting).
However, high moving masses or limited mechanical conditions (e.g. gear load capacity)
often have to be taken into account for spindles. This means that the MD has to be
changed to set a longer braking ramp.
Notice:
● With interpolating axes or axis/spindle couplings, it cannot be ensured that the
contour or coupling will be maintained during the braking phase.
● If the time set for the braking ramp for error states is too long, the controller
enable
will be
removed although the axis/spindle is still moving. Depending on the
drive type used and the activation of the pulse enable, either an immediate stop
with speed setpoint 0 will be initiated or the axis/spindle will coast down without
power. The time selected in MD36610 $MA_AX_EMERGENCY_STOP_TIME should therefore be
shorter than the time in MD36620 $MA_SERVO_DISABLE_DELAY_TIME (cutout delay,
controller enable) so that the configured braking ramp can be fully active
throughout the entire braking operation.
● The braking ramp may be ineffective or not maintained if the active drive follows
its own braking ramp logic (e.g. SINAMICS).
Related to:
MD36620 $MA_SERVO_DISABLE_DELAY_TIME (cutout delay controller enable)
MD36210 $MA_CTRLOUT_LIMIT (maximum speed setpoint)
36620 SERVO_DISABLE_DELAY_TIME A05 TE3, K3, A2, A3, N2, Z1
s Cutout delay servo enable DOUBLE NEW CONF
-
- - 0.1 0.0 1.0e15 2/2 M
Description: Maximum time delay for removal of "controller enable" after faults. The speed enable
(controller enable) of
the drive is removed internally within the controller after the
set delay time, at the latest.
The delay time entered becomes active as a result of the following events:
● Errors that lead to immediate stopping of the axes
● Removal of the interface signal DB380x DBX2.1 (Controller enable) from the PLC
As soon as the actual speed reaches the standstill range (MD36060
$MA_STANDSTILL_VELO_TOL), the "controller enable" for the drive is removed. The time
set should be long enough to enable the axis / spindle to brake down to a standstill
from maximum traversing velocity or maximum speed. If the axis / spindle is
stationary, the "controller enable" for the drive is removed immediately (i.e. the
time defined in MD36620 $MA_SERVO_DISABLE_DELAY_TIME is terminated prematurely).
Application example(s):
Speed control of the drive should be retained long enough to enable the axis / spindle
to brake down to standstill from maximum traversing velocity or maximum speed.
Notice:
Machine data
3.4 Axis-specific machine data
Parameter Manual
306 List Manual, 01/2017
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