3.1.8.2.4 Quick stop
3.1.8.2.4.1 Overview
When the drive is in motion and the user wishes to stop quickly for any reason, the Quick Stop state can be
activated. This function uses a profile to drive the motor from the current velocity down to zero with a
specific Quick Stop deceleration. Quick stop can also be performed when an internal fault happens to stop
the drive in a controlled way.
Attention
Note that the brake might get damaged when the motor does not ramp down to zero velocity. This can
happen due to one of the following reasons:
when the motor is mechanically unstable
when the control system is unstably or poorly tuned
when the quick-stop feature is misconfigured
If no brake exists, this can even lead to a damaged motor!
Note
At the end of the quick stop procedure, the brake gets engaged when the drive is in
SWITCH_ON_DISABLED (mode 2). When the drive stays in QUICK_STOP_ACTIVE (mode 6) the brake is
not engaged by default.
3.1.8.2.4.2 Usage
Quickstop will be enabled if one of the following conditions occurs:
Bit 2 (quick stop bit) of the Controlword changed from 1 to 0 (transitions 7, 10, 11 according to the drive
state machine diagram.
A drive fault is triggered
The drive dropped from EtherCAT Operational state while it was in CiA402 Operational Enabled state
Object 0x605A Quick stop option code has different options that switch the drive into different states:
Option code Definition
0 Disable drive function (no quick stop deceleration)
2 (default) Slow down on quick stop ramp and transit into switch on disabled
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