6 Slow down on quick stop ramp and stay in quick stop active
The execution of the procedure depends on the operational mode that is active:
3.1.8.2.4.2.1 Position and velocity control modes
In position control modes (Cyclic Synchronous Position mode, Profile Position mode, Cogging recording,
Homing) the quick stop procedure uses the position controller to stop the motor.
In velocity control modes (Profile velocity mode, Cyclic Synchronous Velocity Mode), the quick stop
procedure uses the velocity profiler to stop the motor.
During the procedure, torque offset can be used to compensate for possible torque from the load.
The steps vary depending on the quick stop option code and when quick stop is triggered:
3.1.8.2.4.2.1.1 Option code: 0 (Disable the drive)
Attention
In this case, the drive does not perform the quick stop deceleration ramp and is instead immediately
disabled.
3.1.8.2.4.2.1.2 Option code: 2 (Slow down on quick stop ramp and transit into switch on
disabled)
1. The Drive commands a quick stop ramp that ramps down an effective commanded velocity according to
the user-defined quick stop deceleration.
2. The end of the quick stop ramp is a moment when the commanded velocity is equal to 0.
3. A timeout period of 100 ms is started in which the drive commands a fixed position or zero velocity.
4. After the end of the quick stop ramp, the drive is disabled, which automatically engages the brake as
defined by the brake settings.
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