Ramping down Within the Maximum Ramp-down Time
In the case of an error with reaction BD1 (1), the axis ramps down at maximum current (MaxDrivePeakCurrent). In the case of an error with reaction BD2 (1), the axis ramps down according to the parameters ControllerStopDec and ControllerStopJerk. As soon as the speed becomes lower than the speed threshold (speed < nmin) (2), the brake relay is released. The axis comes to a standstill before expiration of the maximum ramp-down time (parameter StopTimeLim) (4). After expiration of the brake coupling time (parameter BrakeCouplingTime) (3), the motor is switched to a torque-free state.
Time diagram for reaction BD1 / BD2 (ramping down within the max. ramp down time)
