Delta RMC101 User Manual download pdf (Page 859)

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Appendix C: Parameter Field Reference

C-89

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

fault type and click OK. Changes to this parameter do not take effect until you issue a Set

Parameters (P) command.

Manual Parameter Entry

This parameter can also be edited manually, but this is discouraged since it is much easier to use

the popup editor. You can enter hexadecimal numbers by typing a leading 0x, as in 0x1FE0.

Each of the eight faults listed above has two bits assigned to it, labeled S and H in the table

below:

Bit

Description

Bit

Description

Fault 7 - Bit

7 Fault 7 - Bit H

Fault 6 - Bit

Fault 6 - Bit H

Fault 5 - Bit

5 Fault 5 - Bit H

Fault 4 - Bit

Fault 4 - Bit H

Fault 3 - Bit

3 Fault 3 - Bit H

Fault 2 - Bit

Fault 2 - Bit H

1 2 ... 854 855 856 857 858 859 860 861 862 863 864 ... 950 951

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Delta RMC101 User Manual Page 859

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