Stop Movement with Halt

With a Halt, the ongoing movement is interrupted; it can be resumed.

A Halt can be triggered via a digital signal input or a fieldbus command.

In order to interrupt a movement via a signal input, you must first parameterize the signal input function “Halt”, see chapter Digital Inputs and Outputs.

The movement can be interrupted with 2 different deceleration types.

oDeceleration via deceleration ramp

oDeceleration via torque ramp

Setting the Type of Deceleration

The parameter LIM_HaltReaction lets you set the type of deceleration.

Parameter name HMI menu HMI name	Description	Unit Minimum value Factory setting Maximum value	Data type R/W Persistent Expert	Parameter address via fieldbus
LIM_HaltReaction (ConF) → (ACG-) (htyP)	Halt option code. 1 / Deceleration Ramp / (dEcE) 3 / Torque Ramp / (torq) Set the deceleration ramp with parameter RAMP_v_dec. Set the torque ramp with parameter LIM_I_maxHalt. If a deceleration ramp is already active, the parameter cannot be written. Type: Signed decimal - 2 bytes Write access via Sercos: CP2, CP3, CP4 Modified settings become effective immediately.	- 1 3 3	INT16 R/W per. -	Modbus 1582 IDN P-0-3006.0.23

Parameter name

HMI menu

HMI name

Description

Unit

Minimum value

Factory setting

Maximum value

Data type

R/W

Persistent

Expert

Parameter address via fieldbus

LIM_HaltReaction

(ConF) → (ACG-)

(htyP)

Halt option code.

1 / Deceleration Ramp / (dEcE)

3 / Torque Ramp / (torq)

Set the deceleration ramp with parameter RAMP_v_dec.

Set the torque ramp with parameter LIM_I_maxHalt.

If a deceleration ramp is already active, the parameter cannot be written.

Type: Signed decimal - 2 bytes

Write access via Sercos: CP2, CP3, CP4

Modified settings become effective immediately.

INT16

R/W

per.

Modbus 1582

IDN P-0-3006.0.23

Setting the Deceleration Ramp

The deceleration ramp is set with the parameter Ramp_v_dec via the Motion Profile for the Velocity.

Setting the Torque Ramp

The parameter LIM_I_maxHalt lets you set the torque ramp.

Parameter name HMI menu HMI name	Description	Unit Minimum value Factory setting Maximum value	Data type R/W Persistent Expert	Parameter address via fieldbus
LIM_I_maxHalt (ConF) → (ACG-) (hcur)	Current for Halt. This value is only limited by the minimum/maximum value range (no limitation of this value by motor/power stage). In the case of a Halt, the current limit (_Imax_act) is one of the following values (whichever is lowest): - LIM_I_maxHalt - _M_I_max - _PS_I_max Further current limitations caused by I2t monitoring are also taken into account during a Halt. Default: _PS_I_max at 8 kHz PWM frequency and 230/480 V mains voltage Type: Unsigned decimal - 2 bytes Write access via Sercos: CP2, CP3, CP4 In increments of 0.01 A_rms. Modified settings become effective immediately.	A_rms - - -	UINT16 R/W per. -	Modbus 4380 IDN P-0-3017.0.14

Parameter name

HMI menu

HMI name

Description

Unit

Minimum value

Factory setting

Maximum value

Data type

R/W

Persistent

Expert

Parameter address via fieldbus

LIM_I_maxHalt

(ConF) → (ACG-)

(hcur)

Current for Halt.

This value is only limited by the minimum/maximum value range (no limitation of this value by motor/power stage).

In the case of a Halt, the current limit (_Imax_act) is one of the following values (whichever is lowest):

- LIM_I_maxHalt

- _M_I_max

- _PS_I_max

Further current limitations caused by I2t monitoring are also taken into account during a Halt.

Default: _PS_I_max at 8 kHz PWM frequency and 230/480 V mains voltage

Type: Unsigned decimal - 2 bytes

Write access via Sercos: CP2, CP3, CP4

In increments of 0.01 A_rms.

Modified settings become effective immediately.

A_rms

UINT16

R/W

per.

Modbus 4380

IDN P-0-3017.0.14