In Emergency or Power off i want to stop B&R servo immediately

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1

We have Servo & induction motor combination printing application,

When Emergency pressed or power off Induction motor suddenly stop but Servo not.

want to stop servo immediately without any deceleration delay

please suggest

Thanks

Veeresh Suranagi

2

Hi @veeresh.suranagi ,
few questions focus on servo drive:

  1. Which B&R drive do you have? Standard ACOPOS/ACOPOS P3/ACOPOSmulti…
  2. Do you have holding brake mounted on the motor?
  3. Have you configured a quickstop on the axis?
  4. Can you trace E-stop signal/actual axis position and actual axis velocity?
    For example:

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Motor commutation stops immediately when STO is activated. Then the motor holding brake is engaged and it stops the motor movement.
It will wear out the motor holding brake.

The correct way to handle e-stop is to use the quickstop function to stop motion (well controlled), then activate STO with a delay

For example on the standard ACOPOS you see an input for quickstop

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Ciao
Valerio

3

Dear Sir,

It’s not a brake motor.

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Its combination of Induction motor & Servo Motor application.

In Below graph you can observe:

1&2 --are Servo motor --takes deceleration time to stop when Emergency & power cut.

3&4th --Induction motor & stops immediately when emergency or power cut.

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After some observation i did small changes in B&R AS software like below.

  1. When emergency pressed: Servo motors deceleration, Velocity, Posinfo velocity made it zero (0) & cut of the servo Enable signal.
strAxes.strPMMotorA.JogVelocity.rDec := 0;
strAxes.strPMMotorA.JogVelocity.rVel := 0;
strAxes.strPMMotorA.strStatus.posInfo.rVelocity:=0;
strAxes.strPMMotorA.PowerOff();

 strAxes.strPMMotorB.JogVelocity.rDec := 0;
 strAxes.strPMMotorB.JogVelocity.rVel := 0;
 strAxes.strPMMotorB.strStatus.posInfo.rVelocity:=0;
 strAxes.strPMMotorB.PowerOff();

after that observed like in below graph find below

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as per above 2 graph motor stops immediately.

Please suggest

4

pls see Valerio’s hint:

Motor commutation stops immediately when STO is activated

and

The correct way to handle e-stop is to use the quickstop function to stop motion (well controlled), then activate STO with a delay

and do not set your deceleration to ‘0’ since that is physically impossible.

5

Hi @valerio.manenti @christoph.hilchenbac

using 8EI034HWS10.xxxx-1 Servo drive.

In below which category we need to use.

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Please suggest.

6

Unfortunately, we cannot tell you which safety category your machine must meet.

However, if regulations require that the machine be stopped as quickly as possible in the event of a safety emergency—without using a mechanical brake—then you should use the Quickstop.

This ensures that the emergency stop signal is routed immediately to the (non-safe) Quickstop input of the drive.
The (safe) STO (enable input), however, receives the signal with a delay.
The delay must not exceed the time it would theoretically take for the machine to come to a stop under maximum load.

After that, the safety relay must remove the enable signal.
The non-safe delay is then configured using the Quickstop parameters, and the safe timeout is configured via the safety relay.

But let me repeat: we can’t decide what counts as “safe” for your machine. That requires a safety assessment.

If you need any further information about configuring Quickstop, please let us know whether you’re using Mapp Motion or Acp10

7

@christoph.hilchenbac

using Acp10

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This Quickstop need to use right?

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In Drive Pin configuration not found Quickstop pin, found only Enable1, enable2 pins.

8

Hi @veeresh.suranagi ,
check this post QuickStop function issue in B&R ACOPOS – error despite correct trigger1 signal .

Ciao
Valerio

9

Hi,

This Quickstop need to use right?

depends on. Using ‘ncA_LIMIT’ is the simplest method, and therefore the best approach for now.

In this case the drive is slowed down by the deceleration given by the values ‘limits.a2_neg’ abd ‘limits.a2_pos’.

see Limit Values

In Drive Pin configuration not found Quickstop pin, found only Enable1, enable2 pins.

see connector Connector X8 - Pinout. Usually we select ‘Trigger2’ as Quickstop - Input.

for the configuration see Digital Inputs

10

Hi Sir,

Thanks for ur support.

I will check in shop floor machines & let u know.