Situation
It is desired, in the case of an alarm or in the case of a lack of feedback from the Power Set or an axis belonging to it, to send the quick_stop command, conforming to the DS402 state machine, to the drives via fieldbus. In this case the drives will perform a stop ramp by themselves.
NOTE: The axis in alarm may not be able to perform such ramping (e.g., power stage breakage, ...).
Operations to be performed:
1) |
In the power set graphic configurator set a delay time.
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NOTE: This time should be just greater than the stop ramp. |
2) |
From graphic configurator, select for the axis the request for quick stop.
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3) |
From program R3/LD use the keyword QUICK_STOP_SO to know the axis mask with a quick stop in progress. Use, to know that the count is in progress, the function PS_STATUS or the keyword SWITCHING_OFF. |
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NOTE: The QUICK STOP function has no validity if you do not specify a power drop delay time (alarm or feedback). |
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NOTE: During the QUICK STOP phase, any SAM tracking, SPAM velocity and ACAM acceleration axis alarms are disabled. |
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NOTE: Generate in the RTE.CFG file the keyword QUICKSTOP_ON_DELAYED_POFF. |
Example
I32 power_sts, systemPowered, powerGoingDown power_sts = ps_status(power)
systemPowered = ((power_sts r_and 0x12) = 0x12) powerGoingDown = (power_sts r_and 0xC0) |
