Axis deceleration ramps
| |
Serious injuries caused by moving axes! The deceleration ramps of the AX5000 servo drive are purely functional and not suitable for personal protection purposes! A fault in the drive system may have the following effects: - it may not be possible to enable the functional deceleration ramps; - it may not be possible to bring the axes to a standstill. In other words, the axes may not respond. This could cause serious injury. Before commissioning ensure that all external personal protection measures were applied. |
The AX5000 servo drive has functional deceleration ramps, which brake or coast down the connected motors in the event of fault.
Both ramps are configured via the parameters:
- S-0-0372 (Drive Halt Acceleration Bipolar) and
- S-0-0429 (Emergency Stop Deceleration)
.
When configuring the parameters, the braking energy balance of the whole system has to be taken into account. Mechanical and electrical limits affect the maximum deceleration.
Electrical limits result from:
- the available current
The torque available for braking the axes depends on the maximum current limit. This determines the shortest possible deceleration time. - the absorption of regenerative energy (generated during braking)
The energy is first absorbed by the DC link. When this is saturated, energy is fed to the internal or external braking resistors. The capacity of the internal and/or external braking resistors indicates for how long the energy returned from the DC link can be converted to heat. This increases the deceleration time.
Testing the deceleration ramps
During operation the deceleration ramps are activated automatically in the event of an error reaction of the drive system. To assess these processes, it is necessary to trigger and test the functional ramps manually during commissioning.
Proceed as follows:
Parameter S-0-0372 (Drive Halt Acceleration Bipolar)
- Trigger the manual process via bit 14 "Enable Drive" in parameter S-0-0134 (master control word).
Parameter S-0-0429 (Emergency Stop Deceleration)
- Trigger the manual process via parameter P-0-0310 (error reaction verification)
"Force error reaction: Closed loop ramp".
 | Further information on axis deceleration ramps. Settings and configuration instructions for the deceleration ramps can be found in this manual under digital inputs and outputs → hardware enable and |