Lenze 8400 TopLine - Manual (Page 568)

9 Basic drive functions (MCK)
9.2 Internal interfaces | System block "LS_MotionControlKernel"
568
Lenze · 8400 TopLine · Reference manual · DMS 6.0 EN · 06/2014 · TD05/TD14
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9.2.4 Interface to safety system
For operation with optional safety system, the LS_MotionControlKernel system block has the
wSMCtrl input, This interface is used to transfer a control word by means of which the Motion
Control Kernel can be supplied with information on requested or active safety functions. The
Motion Control Kernel then initiates the necessary motion sequence (e.g. braking).
At the moment, only bit 0 in the wSMCtrl control word has a function. Additional functions are in
preparation:
Behaviour in case of request for "Safe Stop 1" (SS1)
The drive is brought to a standstill with the stopping ramp set in
C02610/3 .
[9-5] Ramping down to standstill
If the request is reset during the down-ramping process (bit 0 = "10"), the behaviour depends on
the active operating mode:
• In the " Speed follower " operating mode, direct synchronisation with the target speed takes
place with the ramp time set in C02610/2 .
• In the " Homing " operating mode, the ramp-down is continued with the deceleration for stop set
in C01251 if the bit 8 ("HomStartStop") in the MCK control word = "0". If bit 8 is set, the homing
process starts immediately in the selected homing mode.
• In the " Manual jog " operating mode, the behaviour depends on whether the manual jog
initiator (bManJogPos or bManJogNeg) is still set:
• In the " Positioning " operating mode, the behaviour depends on the setting in C01216 .
• In the " Position follower " operating mode, (forward) positioning to the signalled absolute
position always takes place if this position differs from the internal position.
Bit Designation Description
0 SafeStop1 "1" ≡ Request for "Safe Stop 1" (SS1).
1
...
15
Reserved In preparation - Still without function!
• The time set in C02610/3 refers to the down-
ramping of the reference speed set in C00011 .
• If the current speed is lower, the time to
standstill is accordingly lower as well.
n
t
C00011
C02610/3
SS1
Bit 0
(SafeStop1)
bManJogPos
bManJogNeg
Behaviour
1 TRUE Ramping down to standstill
0 TRUE Accelerating to manual speed
0 FALSE Ramping down to standstill