Delta RMC151 - Manual (Page 1021)

9 Register Reference
Description
This parameter defines which halt group the axis is in. If any member of a halt group
halts, all axes in that group will halt with the same halt type. Zero indicates that the axis
is not a member of a halt group.
Sync Groups for synchronized axes have similar grouped halt functionality. Halts in any
group will propagate recursively to other groups. If an axis halts, all axes in that group
will halt, and so will the axes in any other sync group or halt group that the other axes
are part of.
Why Bother?
For systems such as presses with 2 or more cylinders, where it is very important that the
cylinders never get skewed, you typically want all the axes to halt when one axis halts.
This parameter allows you to easily do that.
9.2.2.8.3. Closed Loop Halt Deceleration
Type: Axis Parameter Register
RMC70 Address: %MDn.110, where n = 12 + the axis number
RMC150 Address: %MDn.110, where n = 24 + the axis number
System Tag: _Axis[n].CLHaltDecel, where n is the axis number
How to Find: Axes Parameters Pane, Setup tab: Halts
Data Type: REAL
Units: pu/sec 2
Range: > 0
Default Value: 10
Description
This register specifies the rate at which an axis is decelerated to zero velocity in closed
loop control due to a Closed Loop Halt. A Closed Loop Halt can be initiated by the Closed
Loop Halt (1) command or an Auto Stop.
Note:
The deceleration specified by the Closed Loop Halt Deceleration is the average deceleration.
The instantaneous deceleration may exceed this value.
9.2.2.8.4. Open Loop Halt Ramp
Type: Axis Parameter Register
RMC70 Address: %MDn.111, where n = 12 + the axis number
RMC150 Address: %MDn.111, where n = 24 + the axis number
System Tag: _Axis[n].OLHaltRamp, where n is the axis number
How to Find: Axes Parameters Pane, Setup tab: Halts
Data Type: REAL
Units: V/s
Range: ≥ 0
Default Value: 100
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