Delta RMC101 User Manual download pdf (Page 802)

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101

RMC100 and RMCWin User Manual

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which error bits cause which levels of stop, or whether an error will cause a stop at all. The

default setting of all the AutoStops is Hard Stop, as described below.

During startup and tuning, you will typically need to set some AutoStops to Status Only to keep

halts from interfering with the tuning. After completeing the startup procedure, make sure to set

the AutoStops to setting that are safe for the machine operation.

Auto Stops are always active unless the axis is in Open Loop, in which case no Auto Stops will be

triggered even though error bits may be set.

Note: AutoStops will not occur if the axis is in Open Loop!

The eight (8) most-significant bits in the Status word, as listed below, are the error bits, with the

exception of the Home Input status bit for Quadrature axes with Analog (QUAD) or Stepper

(STEP) output:

Fault

QUAD

STEP

All Others

Encoder Error/Fault

No Transducer

Extend Limit

Transducer Noise

Retract Limit

Transducer

Overflow

Overdrive

Parameter Error

2 Home Input Home Input Pos./Press.

Overflow

Integrator Windup

Compensation

Timeout

Integrator Windup

Following Error

The available actions for each fault are listed below:

• Status Only

The fault will be reflected in its corresponding status bit in the Status word, but no further action

will be taken. For some transducer types, this option may not be available for the following faults:

No Transducer, Transducer Overflow, and Transducer Noise.

• Soft Stop

If the axis is in closed loop, the fault will trigger ramping the axis to a stop. The speed will ramp

down to zero using the current Deceleration value. If the axis is in Open Loop, the drive will not

be affected. If there is an event sequence on the axis, it will stop executing. The Halt status bit will

also be set in the Status word. Some faults will use the open loop ramp down although the axis

was in closed loop: Position Overflow, No Transducer, Transducer Overflow, Transducer Noise,

and Encoder Error/Fault Input. This is done because the position feedback is not dependable and

closed loop control cannot be maintained.

• Hard Stop

If the axis is in closed loop, the fault will trigger the drive output to go immediately to 0 mV on

analog outputs and no steps for stepper outputs, and the axis will be placed in open loop mode. If

the axis is in Open Loop, the drive will not be affected. If there is an event sequence on the axis,

it will stop executing. The Halt and Open Loop status bit will also be set in the Status word.

• Disable Drive

The fault will be handled as in a Hard Stop, but additionally the Amp Enable output on QUAD and

STEP will be opened. Use the Amp Enable (a) command to close the output again. This option is

only available for faults on QUAD and STEP axes.

To view or change the Auto Stop parameter value, open the Auto Stop popup editor in RMCWin

using one of the methods described in Using Popup Editors. Select the desired action for each

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Delta RMC101 User Manual Page 802

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