Behavior Slave Axis Disable

At a Glance

The aim of this development is to be able to choose the stop behavior of the drives when a real axis latching command is made:

Either by immediately releasing the torque in "freewheel" (case of mechanically linked axes)
Or by braking according to the incline of the emergency stop (IDN3022).

Two solutions are then possible:

Configuring the drive
Configuring the module

Choice to Configure the Drive

This solution enables this possibility to be used on all drives in the range.

Choice to Configure the Module

Depending on the value of bit 6 (_FREEWHEEL_STOP) of the %MWr.m.c.35 (FUNCTION_VALIDATION) word in the real axis parameters, the results are:

If the bit is equal to 0, the drive will stop by braking according to the emergency stop incline before switching to freewheel (if the drive was configured previously with Unilink, ACTFAULT=1),
If the bit equals 1, the drive will switch to freewheel immediately.

NOTE: This choice will not be able to be accessed by the configuration or parameter screens. To activate the choice, you must use a WRITE_PARAM then a SAVE_PARAM.