Rockwell Automation 1784-PM16SE SoftLogix Motion Card Setup and Configuration Manual - Manual (Page 351)

Publication 1784-UM003A-EN-P – June 2003
Motion Object Attributes 343
Disable Drive
If a fault action is set to Disable Drive, then when the associated fault occurs,
axis servo action is immediately disabled, the servo amplifier output is zeroed,
and the appropriate drive enable output is deactivated. Shutdown is the most
severe action to a fault and it is usually used for faults which could endanger
the machine or the operator if power is not removed as quickly as possible.
Stop Command
If a fault action is set to Stop Command, then when the associated fault
occurs, the axis immediately starts decelerating the axis command position to a
stop at the configured Maximum Deceleration Rate without disabling servo
action or the servo modules Drive Enable output. This is the gentlest stopping
mechanism in response to a fault. It is usually used for less severe faults. Once
the stop command fault action has stopped the axis, no further motion can be
generated until the fault is first cleared.
Status Only
If a fault action is set to Status Only, then when the associated fault occurs,
motion faults must be handled by the application program. In general, this
setting should only be used in applications where the standard fault actions are
not appropriate. The recommended setting of the fault action configuration
parameters–suitable for most applications–are provided as defaults.
Commissioning
Configuration Attributes The Axis Object provides sophisticated automatic test tuning instructions,
which allow it to determine proper settings for the servo loop attributes for
each axis. These include not only the polarities, the gains, and also the
maximum acceleration, deceleration, and velocity parameters.
Usually, the servo loop parameters need only be tested and tuned once when
the motion controller is first integrated into the machine or when the machine
is being commissioned at start-up. However, if the load on any axis changes
significantly or if the motor or servo amplifier is replaced for any reason, it
may be necessary to re-test and re-tune the servo loop parameters.
The Commissioning Configuration Attributes shown in the table below are
used to control the axis test and tuning processes that are initiated by the
MRHD and MRAT instructions. Therefore, these values should be established
before the MRHD or MRAT instructions are executed.