Axis deceleration ramps
Function description 93
Version: 1.5
21 Axis deceleration ramps
DANGER
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 capturing of regenerative energy (generated during braking)
The energy is initially captured by the DC link. When this is saturated, energy is fed to the internal or
external brake resistors. The capacity of the internal and/or external brake 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-0-0327 (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".
Note
Further information on axis deceleration ramps
Settings and configuration instructions for the deceleration ramps can be found in this man-
ual under digital inputs and outputs [
}22] → hardware enable [}23] and
limit switch monitoring [
}24].
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