Rockwell Automation 1756-HYD02 ControlLogix Hydraulic Servo Module - Manual (Page 54)

54 Publication 1756-UM525A-EN-P - June 2003
Chapter 4 Using the 1756-HYD02 Module Features
Motion Planner Tab
The table below lists the configurable features available on the Motion Planner
tab.
Feature: Definition:
Output Cam Execution
Targets Use this field to set the maximum number of output cams that will be used on the axis. This value allocates
controller memory to allow the motion planner to build CAM association tables.
Program Stop Action Select how a specific axis stops when the controller undergoes a mode change, or when a Motion Group
Stop (MGS) instruction is executed:
• Fast Disable: The axis is decelerated to a stop using the current configured value for maximum
deceleration. Loop closure is maintained until the axis motion has stopped; at that time, the axis is
disabled (i.e., Drive Enable is disabled, and the axis loop is disabled).
• Fast Shutdown: The axis is decelerated to a stop using the current configured value for maximum
deceleration. Once the axis motion is stopped, the axis is placed in the shutdown state (i.e., Drive Enable
is disabled, the loop is disabled, and the OK contact is opened). To recover from this state, a reset
instruction must be executed.
• Fast Stop: The axis is decelerated to a stop using the current configured value for maximum
deceleration. Loop closure is maintained after the axis motion has stopped. This mode is useful for
gravity or loaded systems, where closed loop control is needed at all times.
• Hard Disable: The axis is immediately disabled (i.e. Drive Enable is disabled, the axis loop is disabled,
but the OK contact is left closed). Unless the drive is configured to provide some form of dynamic
breaking, this selection results in the axis coasting to a stop.
• Hard Shutdown: The axis is immediately placed in the shutdown state (i.e. Drive Enable is disabled,
the axis loop is disabled, but the OK contact is left open). Unless the drive is configured to provide some
form of dynamic breaking, this selection results in the axis coasting to a stop. To recover from this state,
a reset instruction must be executed.