TF5000 TC3 Parameters for Motion

Fast Axis Stop

 

Fast Axis Stop

 

Usually a stop is triggered by PLC code using MC_Stop. However, there are special applications within that the time delay of stop has to be as small as possible. Within this situation the input Drive.Inputs.In.nState4 comes into play triggering a stop directly without being mapped via the PLC process image.

 

Drive Status 4 (manually linked):
0x80 (1000 0000) = Fast Axis Stop (digital IO interrupt)

Variable nState4

The variable Drive.Inputs.In.nState4 can be mapped to any event source. Note its data type USINT and the bit nState4.7 being responsible for the Fast Axis Stop.

Fast Axis Stop

For an axis the Fast Axis Stop is performed when its Drive.Inputs.In.nState4.7 variable exhibits the signal type that is selected within the drop-down list "Fast Axis Stop Signal Type (optional)" and differs from “OFF (default)”.

Signal Type

The “Fast Axis Stop Signal Type (optional)” enumeration specifies six elements:

OFF (default)
For any signal type that the Drive.Inputs.In.nState4.7 variable exhibits no Fast Axis Stop is performed.
Rising Edge
A Fast Axis Stop is performed when the Drive.Inputs.In.nState4.7 bit exhibits a rising edge.
Falling Edge
A Fast Axis Stop is performed when the Drive.Inputs.In.nState4.7 bit exhibits a falling edge.
Both Edges
A Fast Axis Stop is performed when the Drive.Inputs.In.nState4.7 bit exhibits a rising edge and a falling edge, respectively. Alternatively, a Fast Axis Stop is performed when the Drive.Inputs.In.nState4.7 bit exhibits a falling edge and a rising edge, respectively.
High Active
A Fast Axis Stop is performed when the Drive.Inputs.In.nState4.7 bit appears high active.
Low Active
A Fast Axis Stop is performed when the Drive.Inputs.In.nState4.7 bit appears low active.

Optional

An optional fast axis parameter has to differ from zero to be applied when a Fast Axis Stop is performed.

Acceleration, Deceleration, Jerk

When a Fast Axis Stop is performed on the corresponding axis within the boundaries prescribed by the “Maximum Dynamics” the “Fast Acceleration (optional)” float value accelerates the axis, the “Fast Deceleration (optional)” float value decelerates the axis and the “Fast Jerk (optional)” float value is applied.
When a Fast Axis Stop is not performed, not any fast axis parameter is applied.

 

Additional Information: MC_Stop

Following

TwinCAT 3 PLC Lib: Tc2_MC2 or
https://infosys.beckhoff.com/content/1033/tcplclib_tc2_mc2/index.html

you can find further information on MC_Stop.