Delta RMC101 - Manual (Page 815)

Appendix C: Parameter Field Reference
C-45
Range: 0 to 65535
The Following Error determines how large the difference between the Target Position and Actual
Position can get before the Following Error bit is set in the Status word.
C.3.16 Auto Stop
Default: 0x1FE0 (Soft Stops enabled, Hard Stops enabled for Transducer Errors)
Click here for the Auto Stop Bit Map
The Auto Stop parameter controls the action taken on the rising edge of any of the axis' error bits
(the eight (8) most-significant bits in the Status word listed below). The user has control over
which error bits cause which levels of stop, or whether an error will cause a stop at all. The
default setting of all the AutoStops is Hard Stop, as described below.
During startup and tuning, you will typically need to set some AutoStops to Status Only to keep
halts from interfering with the tuning. After completeing the startup procedure, make sure to set
the AutoStops to setting that are safe for the machine operation.
Auto Stops are always active unless the axis is in Open Loop, in which case no Auto Stops will be
triggered even though error bits may be set.
Note: AutoStops will not occur if the axis is in Open Loop!
The eight (8) most-significant bits in the Status word, as listed below, are the error bits, with the
exception of the Home Input status bit for Quadrature axes with Analog (QUAD) or Stepper
(STEP) output:
Fault QUAD STEP All Others
7 Encoder Error/Fault Encoder Error/Fault No Transducer
6 Extend Limit Extend Limit Transducer Noise
5 Retract Limit Retract Limit Transducer
Overflow
4 Overdrive Overdrive Overdrive
3 Parameter Error Parameter Error Parameter Error
2 Home Input Home Input Pos./Press.
Overflow
1 Integrator Windup Compensation
Timeout Integrator Windup
0 Following Error Following Error Following Error
The available actions for each fault are listed below:
• Status Only
The fault will be reflected in its corresponding status bit in the Status word, but no further action
will be taken. For some transducer types, this option may not be available for the following faults:
No Transducer, Transducer Overflow, and Transducer Noise.
• Soft Stop
If the axis is in closed loop, the fault will trigger ramping the axis to a stop. The speed will ramp
down to zero using the current Deceleration value. If the axis is in Open Loop, the drive will not
be affected. If there is an event sequence on the axis, it will stop executing. The Halt status bit will
also be set in the Status word. Some faults will use the open loop ramp down although the axis
was in closed loop: Position Overflow, No Transducer, Transducer Overflow, Transducer Noise,