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HARSFEN0602
limiting the rate of reference change to SD counts/sec
2
.
When the Stop Manager stops the motor due to a switch action, the reference generator is
replaced by a zero command at the input to the Stop Manager. The Stop Manager uses the
SD parameter to decelerate the motor command from the output of the reference generator
to a complete stop.
When the switch action terminates (for example a "Stop" switch is released) the Stop-
Manager uses the SD acceleration to recover the speed command to the output of the
reference generator.
Note the following:
1. The Stop-Manager must limit the speed command to the range [LV[2]..HV[2]].
Although both the software speed command and the external speed command are
each limited to the legal range, their sum may be out of range.
2. When the stop manager stops the command to the speed controller, it does not affect
the reference generator. The reference generator continues to behave normally.
When the switch action is over, the Stop-Manager will try to recover the speed
controller command to the output of the reference generator.
3. The Stop-Manager limits the decelerations and the accelerations due to abrupt
changes of the auxiliary reference. The SD parameter is the only acceleration limiter
for the auxiliary input. The AC and the DC parameters are only relevant to software
commands.
4. When AC and DC are greater than SD, they become irrelevant, since SD will limit
the acceleration lower.
5. The IL[N] command can program a variety of "Stop" options to an input pin. A
pulse at the pin can be directed to the stop manager as in the example below, stop
the software reference generator, or both.
Example:
Let, SD=100000,MO=1,AC=10000,DC=10000,JV=5000,BG;
At the time of 0.2sec, a switch programmed as hard-stop is activated, and released at the time of
0.4 sec.
The following waveforms result:
0 0.2 0.4 0.6 0.8 1
0
500
1000
1500
2000
2500
3000
3500
4000
4500
5000
Command generator
output
Command to the speed
controller
Stop switch
active
When the stop switch is applied, the speed command is brought to complete stop, decelerating
with 100000 counts/sec
2
. When the switch is released, the acceleration of 100000 counts/sec
2
is
used to recover the output of the reference generator.
11.3 The stepper mode: Unit mode 3