Delta RMC151 User Manual download pdf (Page 98)

RMC70/150 and RMCTools User Manual

The Open Loop Halt will ramp the Control output to zero, but will not remove the axis

from pressure/force limit. The Direct Output Halt (3) and Fault Controller (8)

commands

will remove it from pressure/force limit.

Tip:

The Halts do more than just stop the axis. If you simply wish to stop the motion in open loop

control, use the Stop (Open Loop) (22) or Open Loop Rate (10) commands. If you wish to stop

the motion in closed loop control, use the Stop (Closed Loop) (6) command instead.

Triggering an Open Loop Halt

An Open Loop Halt can be triggered in two ways:

• By issuing the Open Loop Halt (2) command.

• Via Auto Stops.

After a Halt has Occurred

If the halt was caused by an Auto Stop, you should first make sure the error condition

that caused it has been resolved before continuing. Once it has been fixed, you can clear

the Halted status bit by issuing the Clear Faults (4)

command. Issuing a valid motion

command will also clear the Halted status bit.

Why Bother?

This halt is useful when you want to set the Control Output to zero because of a

potentially dangerous error. The Open Loop Halt Ramp parameter is used to avoid an

abrupt (and potentially damaging) stop. If you just want to stop the axis but still have

closed loop control over it, use the Closed Loop Halt

The Auto Stops can be set up to cause this halt when an error bit turns on.

3.4.5. Direct Output Halt

The Direct Output Halt is one of the four types of RMC Halts. Use the Direct Output Halt to halt

the axis, put it in Direct Output, and turn off the Enable Output.

When a Direct Out Halt occurs, it takes the following steps:

• It puts the axis in Direct Output, turns on the Direct Output status bit, and ramps

down the Control Output to zero using the Open Loop Halt Ramp parameter.

• When the Control Output reaches zero, this halt turns off the Enable Output.

• The Halted status bit is set and the axis is said to be in the halted state.

• If the axis is part of a Halt Group, it starts a Direct Output Halt on all axes in the

group.

Pressure/Force

The Open Loop Halt will remove the axis from pressure/force control or limit and put it in

Direct Output.

Tip:

The Halts do more than just stop the axis. For example, the Direct Output Halt will turn off the

Enable Output as well. If you simply wish to stop the motion in open loop control, use the Stop

(Open Loop) (22) or Open Loop Rate (10) command. If you wish to stop the motion in closed

loop control, use the Stop (Closed Loop) (6) command instead.

Triggering a Direct Output Halt

A Direct Output Halt can be triggered in two ways:

• By issuing the Direct Output Halt (3) command.

78 Delta Computer Systems, Inc.

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Delta RMC151 User Manual Page 98

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