Auto Stop

Default: 0x1FE0 (Soft Stops enabled, Hard Stops enabled for Transducer Errors)

The Auto Stop parameter controls the action taken on the rising edge of any of the axis' error bits (the eight (8) most-significant bits in the Status word listed below). The user has control over which error bits cause which levels of stop, or whether an error will cause a stop at all. The default setting of all the AutoStops is Hard Stop, as described below.

During startup and tuning, you will typically need to set some AutoStops to Status Only to keep halts from interfering with the tuning. After completeing the startup procedure, make sure to set the AutoStops to setting that are safe for the machine operation.

Auto Stops are always active unless the axis is in Open Loop, in which case no Auto Stops will be triggered even though error bits may be set.

Note: AutoStops will not occur if the axis is in Open Loop!

The eight (8) most-significant bits in the Status word, as listed below, are the error bits, with the exception of the Home Input status bit for Quadrature axes with Analog (QUAD) or Stepper (STEP) output:

Fault	QUAD	STEP	All Others
7	Encoder Error/Fault	Encoder Error/Fault	No Transducer
6	Extend Limit	Extend Limit	Transducer Noise
5	Retract Limit	Retract Limit	Transducer Overflow
4	Overdrive	Overdrive	Overdrive
3	Parameter Error	Parameter Error	Parameter Error
2	Home Input	Home Input	Pos./Press. Overflow
1	Integrator Windup	Compensation Timeout	Integrator Windup
0	Following Error	Following Error	Following Error

The available actions for each fault are listed below:

Status Only
The fault will be reflected in its corresponding status bit in the Status word, but no further action will be taken. For some transducer types, this option may not be available for the following faults: No Transducer, Transducer Overflow, and Transducer Noise.

Soft Stop
If the axis is in closed loop, the fault will trigger ramping the axis to a stop. The speed will ramp down to zero using the current Deceleration value. If the axis is in Open Loop, the drive will not be affected. If there is an event sequence on the axis, it will stop executing. The Halt status bit will also be set in the Status word. Some faults will use the open loop ramp down although the axis was in closed loop: Position Overflow, No Transducer, Transducer Overflow, Transducer Noise, and Encoder Error/Fault Input. This is done because the position feedback is not dependable and closed loop control cannot be maintained.

Hard Stop
If the axis is in closed loop, the fault will trigger the drive output to go immediately to 0 mV on analog outputs and no steps for stepper outputs, and the axis will be placed in open loop mode. If the axis is in Open Loop, the drive will not be affected. If there is an event sequence on the axis, it will stop executing. The Halt and Open Loop status bit will also be set in the Status word.

Disable Drive
The fault will be handled as in a Hard Stop, but additionally the Amp Enable output on QUAD and STEP will be opened. Use the Amp Enable (a) command to close the output again. This option is only available for faults on QUAD and STEP axes.

To view or change the Auto Stop parameter value, open the Auto Stop popup editor in RMCWin using one of the methods described in Using Popup Editors. Select the desired action for each fault type and click OK. Changes to this parameter do not take effect until you issue a Set Parameters (P) command.

Manual Parameter Entry

This parameter can also be edited manually, but this is discouraged since it is much easier to use the popup editor. You can enter hexadecimal numbers by typing a leading 0x, as in 0x1FE0. Each of the eight faults listed above has two bits assigned to it, labeled S and H in the table below:

Bit	Description	Bit	Description
15	Fault 7 - Bit S	7	Fault 7 - Bit H
14	Fault 6 - Bit S	6	Fault 6 - Bit H
13	Fault 5 - Bit S	5	Fault 5 - Bit H
12	Fault 4 - Bit S	4	Fault 4 - Bit H
11	Fault 3 - Bit S	3	Fault 3 - Bit H
10	Fault 2 - Bit S	2	Fault 2 - Bit H
9	Fault 1 - Bit S	1	Fault 1 - Bit H
8	Fault 0 - Bit S	0	Fault 0 - Bit H

For each fault, the two bits in the Auto Stop parameter define the action as follows:

Bit H	Bit S	Description
0	0	Status Only
0	1	Soft Stop
1	0	Hard Stop
1	1	Disable Drive

If you select Status Only for a fault that cannot use that action, then the axis will use a Soft Stop action for that fault. Similarly, if you select Disable Drive for a fault on an axis that does not have an Amp Enable output, the axis will use the Hard Stop action for the fault.