Travel Profile Stopping Conditions
Travel Profile Details - Stopping Conditions
The drive can select the stopping conditions that will end the travel sequence.
This can be used to prevent the drive sitting on zero speed while the brake is released for a prolong period of time.
The drive has two different conditions for stopping that do not involve either a trip or the Safety Chain being opened:
Direction Digital Input Removed
Speed Reference = 0
These are dictated by the setting on P8-13 which is detailed in a section below.
Depending on if encoder feedback is being used will dictate the drives reaction if a zero speed reference is given.
P8-13 Setting | Drive Feedback | Zero Speed Reference Reaction |
|---|---|---|
0 | Open Loop | When a speed reference of zero is given while the direction Digital input is still active the drive will decelerate to 0 using the stopping ramp then once the drive reaches zero Relay 2 (Motor Brake) will open applying the brake and the drive will stay in a parking state (P0-35 = 52) until the direction Digital Input is removed. |
0 | Closed Loop | When a zero speed reference is given while the direction Digital input is still active the drive will decelerate to 0 using the stopping ramp then once the drive reaches zero the drive will run at 0 speed with the brake released until the direction Digital Input is removed. |
1 | Open Loop | When a speed reference of zero is given while the direction Digital input is still active the drive will decelerate to 0 using the stopping ramp then once the drive reaches zero the drive will performing it's stopping sequence rather than waiting for the direction Digital Input to open before beginning the stopping sequence. |
1 | Closed Loop | When a speed reference of zero is given while the direction Digital input is still active the drive will decelerate to 0 using the stopping ramp then once the drive reaches zero the drive will performing it's stopping sequence rather than waiting for the direction Digital Input to open before beginning the stopping sequence. |
Parameter Number | Parameter Name | Units | Default | Available Settings | Access | Change During Run | Scaling | Size (Bytes) | CAN Register | CAN Sub Index | Modbus Register |
|---|---|---|---|---|---|---|---|---|---|---|---|
P8-13 | Action on Zero Reference | N/A | 0: Direction Removed | 0: Direction Removed 1: Direction Removed or Zero Speed Reference | RW | N | N/A | 1 | 232Dh | 0 | 813 |
This parameter defines the stopping conditions for the Drive.
When set to 0 the stopping condition is direction command removed. If a zero speed reference is given the drive will stay enabled at zero speed until the direction command is removed.
When set to 1 an extra stopping condition is added. The stopping conditions become a direction removed OR a zero speed reference. This setting is used to stop the drive sitting at 0 speed for a prolonged period of time. For the zero speed reference condition to be fulfilled both the Pre-ramp and Post-ramp needs to be at 0 for at least 100ms.
Setting | Stopping Condition |
|---|---|
0 | Direction Input Removed |
1 | Direction Input Removed OR Zero Speed Reference |