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.
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
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. During that period the drive observes if the actual velocity of motor has reached 0.
5. If one of the following conditions are met, the drive is disabled which automatically engages the brake as
configured:
The actual velocity of the motor has crossed or equals zero.
The timeout period has expired
3.1.8.2.4.2.1.3 Option code: 6 (Slow down on quick stop ramp and stay in quick stop active)
1. The Drive commands a quick stop ramp that ramps down an effective commanded velocity according to
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. During that period the drive observes if the actual velocity of motor has reached 0
Note
The drive continues to stay in Quick Stop Active until a command to disable the drive is received.
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