Delta RMC151 - Manual (Page 95)

3 Controller Features
• If the axis is part of a Halt Group, it starts the same level of halt on all axes in the
group. See the Halt Group Number topic for more details.
• The RMC immediately stops all Tasks by default. This setting can be changed on the
Programming Properties dialog.
Caution:
If you disable this feature, User Programs may still be running after a halt occurs
and may cause motion on the axis. Make sure you handle the halt condition safely.
One method is to create a User Program to handle the halt condition and use the
Program Triggers to start the User Program when the Halt bit turns on.
Pressure/Force Control
The Closed Loop Halt and Open Loop Halt do remove the axis from pressure or force
control. The Direct Output Halt (3) and Fault Controller (8) commands will.
Triggering a Halt
Halts can then be triggered in two ways:
• Issue a Command
By issuing commands (except External Halt). See each halt command topic for details.
1.
Halt Command
Closed Loop Halt Closed Loop Halt (1)
Open Loop Halt Open Loop Halt (2)
Direct Output Halt Direct Output Halt (3)
2.
• Auto Stop
Auto Stops automatically trigger a halt when an Error Bit is set. The Auto Stops can be
configured to trigger any level of halt, or Status Only, for each individual Error bit. See
the Auto Stops topic for details.
• Fault Controller (8) Command
The Fault Controller (8) command will halt all the axes.
3.4.2. External Halt
The External Halt is not intended to actually halt motion; rather, it is intended only to signal a
master controller, such as a PLC, that an axis should be halted, and the PLC should then take
care of the halting. The External Halt does not affect motion in any way. An External Halt will
not stop any user programs. The External Halt is one of the four types of RMC Halts.
When an External Halt occurs, only the following happens:
• The External Halt status bit is set.
• If the axis is part of a Halt Group, it sets the External Halt bit on all axes in the group.
If the External Halt was triggered because of the occurrence of a No Transducer or Transducer
Overflow error, which in themselves may severely impact motion, the feedback value will be
held at its last valid value.
Triggering an External Halt
An External Halt can only be triggered via Auto Stops.
After a Halt has Occurred
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