ET_Reaction - General Information

List type

V1.0.4.0

Immediate asynchronous stop. Stop process immediately and deactivate it. The process can no longer be accessed while the exception is pending. No commands can be executed while the reaction is pending. You may still execute certain special operating modes and commands required for exception elimination.

Example from the AxisModule:

• Ramp down the axis at the current limit

• Exit the operating mode (unless the operating mode is BrakeRelease)

• Terminate the current command (unless the command is BrakeRelease or a BrakeRelease sub-command). No further commands are accepted (except in relation to BrakeRelease). You cannot activate the position control or influence the axis in any way (except for BrakeRelease).

Synchronous stop (monitored by a timeout = waits until the master stops; master = the master axis or similar). Deactivate the process after the synchronous stop has been completed. The process can no longer be accessed while the exception is pending. If the timeout (configurable) is triggered, switch over to the asynchronous stop (ramp down axis at the current limit).

Synchronous stop (monitored by a timeout = waits until the master stops; master = the master axis or similar). Do NOT disable process after completion of the synchronous stop.

Example from the AxisModule:

• Upon the pending reaction, disable the operating mode. => Brake with ControllerStopDec/ControllerStopJerk. If the operating mode = MultiCam, it is not disabled immediately, but the master is monitored for standstill. When the master is at standstill, the operating mode is quit.

• If the timeout (configurable) is triggered, switch over to the asynchronous stop (ramp down axis at the current limit).

Stop at the end of the cycle. Do NOT deactivate the process.

Immediate deactivation of the main contactor. Modules do not have to act based on this reaction. It generally occurs in conjunction with a ET_Reaction.AsyncStop and intensifies its effects at machine level.