Delta RMC151 - Manual (Page 97)

3 Controller Features
(29), the Target Position will stop immediately. Otherwise, the velocity will ramp down
from the current velocity to zero at the rate specified by the Closed Loop Halt
Deceleration parameter, while remaining in position control.
• Velocity PID
The velocity will ramp down from the current velocity to zero at the rate specified by
the Closed Loop Halt Deceleration parameter, while remaining in velocity control.
• Velocity I-PD
If the last motion command was Move Velocity (I-PD) (38), the Target Velocity will
stop immediately. Otherwise, the velocity will ramp down from the current velocity to
zero at the rate specified by the Closed Loop Halt Deceleration parameter, while
remaining in velocity control.
• Open Loop
The axis transitions to closed-loop control and ramps the velocity to zero at the rate
specified by the Closed Loop Halt Deceleration parameter in V/sec.
• Pressure/Force Control
The Target Pressure Rate or Target Force Rate will be ramped to zero at the rate
specified by the Closed Loop Halt Deceleration parameter in Pr/sec or Fr/sec.
Triggering a Closed Loop Halt
A Closed Loop Halt can be triggered in two ways:
• By issuing the Closed Loop Halt (1) command.
• Via Auto Stops.
After a Halt has Occurred
If the halt was caused by an Auto Stop, you should first make sure the error condition
that caused it has been resolved before continuing. Once it has been fixed, you can clear
the Halted status bit by issuing the Clear Faults (4) command. Issuing a valid motion
command will also clear the Halted status bit.
Why Bother?
This halt is useful when you want to stop the axis but remain in closed loop control. If you
have to stop the axis because it is vibrating, use the Open Loop Halt instead, since the
axis will probably keep vibrating or oscillating as long as it is in closed loop control.
The Auto Stops can be set up to cause this halt when an error bit turns on.
3.4.4. Open Loop Halt
The Open Loop Halt is one of the four types of RMC Halts. Use the Open Loop Halt to halt the
axis in open loop control.
When an Open Loop Halt occurs, it takes the following steps:
• It puts the axis in open loop and ramps down the Control Output to zero using the
Open Loop Halt Ramp parameter.
• The Halted status bit is set and the axis is said to be in the halted state.
• If the axis is part of a Halt Group, it starts an Open Loop Halt on all axes in the group.
Pressure/Force Control
The Open Loop Halt will remove the axis from pressure/force control and put it in open
loop.
Pressure/Force Limit
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