Rockwell Automation 1784-PM16SE SoftLogix Motion Card Setup and Configuration Manual - Manual (Page 308)

Publication 1784-UM003A-EN-P – June 2003
300 Motion Object Attributes
Programmed Stop Mode The Programmed Stop Mode attribute value determines how a specific axis
will stop when the ControlLogix processor undergoes a critical processor
mode change or when an explicit MGS (Motion Group Stop) instruction
executed with it’s stop mode set to ‘programmed’. There are currently four
modes defined for the ControlLogix processor: Program Mode, Run Mode,
Test Mode and Faulted Mode. Any mode change into or out of program mode
(prog->run, prog->test, run->prog & test->prog) will initiate a programmed
stop for every axis owned by that processor. Each individual axis can have its
own Programmed Stop Mode configuration independent of other axes. Three
methods of stopping a given axis are currently supported.
Fast Stop
When the Programmed Stop Mode attribute is configured for Fast Stop, the
axis is decelerated to a stop using the current configured value for Maximum
Deceleration. Servo action is maintained after the axis motion has stopped.
Fast Disable
When the Programmed Stop Mode attribute is configured for Fast Disable, the
axis is decelerated to a stop using the current configured value for Maximum
Deceleration. Servo action is maintained until the axis motion has stopped at
which time the axis is disabled, i.e. Drive Enable disabled, and Servo Action
disabled
Hard Disable
When configured for Hard Disable, the axis is immediately disabled, i.e. Drive
Enable disabled, Servo Action disabled, but the OK contact is left closed.
Unless the drive is configured to provide some form of dynamic breaking, this
results in the axis coasting to a stop.
Fast Shutdown
When configured for Fast Shutdown, the axis is decelerated to a stop as with
Fast Stop but, once the axis motion is stopped, the axis is placed in the
Shutdown state, i.e. Drive Enable disabled, servo action disabled, and the OK
contact opened. To recover from the Shutdown state requires execution of one
of the axis or group Shutdown Reset instructions (MASR or MGSR).
GSV/SSV Access Attribute Name Data Type Values
SSV/GSV Programmed Stop Mode SINT 0 = Fast Stop (default)
1 = Fast Disable
2 = Hard Disable
3 = Fast Shutdown
4 = Hard Shutdown