Delta RMC151 User Manual
Page 1019
9 Register Reference
Direct Output Halt
A Direct Output Halt is initiated.
See the Halts topic for details on the steps taken by the RMC when a Halt occurs.
Configuring the Auto Stops
To configure the Auto Stops:
•
Click the Axis Tools button on the RMCTools toolbar.
•
In the Axis Parameters pane, on the Setup tab, expand the Halts section and
expand the Auto Stop Configuration section.
•
Choose a halt type for each error bit.
•
Click the download button in the Axis Tools toolbar.
Why Bother?
A good system designer not only considers how a machine reacts in normal operation, but
also considers how it reacts when something fails. The Auto Stops help the designer avoid
personal injury or equipment damage when something does fail.
Example
A system designer decided to set all the Auto Stops to Status Only to avoid the hassle of
having the system stop when he was tuning it up. Unfortunately, the feedback
transducer on one of the hydraulic cylinders failed. The RMC thought the cylinder was at
0 inches when it really was at 20 inches.
The feedback error caused the RMC to apply full drive to the cylinder. The cylinder
slammed to the end of the stroke, smashing sensitive machine parts. This cylinder had
also been synchronized with another cylinder to push a machine part back and forth. Of
course, the cylinders went out of synchronization, bending the linkages between them.
If the Auto Stop for the No Transducer Error Bit and Transducer Overflow had been set
to Open Loop Halt, this accident could have been avoided. However, if it had been set to
Closed Loop halt, the accident would still have occurred, because a Closed Loop Halt still
requires feedback.
Format Details
This section is primarily for addressing the Auto Stops parameter when communicating
with the RMC from an external device. This information is not necessary when configuring
this parameter in RMCTools.
Each Auto Stop level is configured with 3 bits. These bits correspond to the Auto Stop
Levels as shown in the following table:
High
Bit
Mid
Bit
Low
Bit
Level
0
0
0
Status Only
0
0
1
External Halt
0
1
0
Closed Loop Halt
0
1
1
Open Loop Halt
1
0
0
Direct Output Halt
Auto Stop Bit Mapping
Register
Tag Name and Bits
%MD12.106 DWORD AutoStopCfg1.FollowErr
bits 0-2
Following
Error
-
bits 3-5
Reserved
deltamotion.com
999