Auto Stop Configuration

Type:	Axis Parameter Register
Address:	RMC75: %MDn.106 to %MDn.108, where n = 12 + the axis number RMC150: %MDn.106 to %MDn.108, where n = 24 + the axis number RMC200: %MDn.0 to %MDn.2, where n = 384 + the axis number
System Tag:	_Axis[n].AutoStopCfg1, _Axis[n].AutoStopCfg2, and _Axis[n].AutoStopCfg3, wherenis the axis number
How to Find:	Axes Parameters Pane, Setup tab: Halts → Auto Stop Configuration
Data Type:	DWORD - See Format Details below

Description

Auto Stops are Halts that are defined to occur automatically on rising edges of the axis' error bits. The user has control over which error bits cause which levels of halts, or whether an error will cause a halt at all. The default setting of all the Auto Stops is Direct Output Halt. This means that when an error bit turns on, the axis will receive a Direct Output halt.

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

Auto Stops are always active unless the axis is in the Direct Output state (whether it was caused the Direct Output (9) command, or a halt), in which case no Auto Stops will be triggered even though error bits may be set.

Note: Auto Stops will not occur if the axis is in Direct Output (as indicated by the Direct Output Status bit)!

Each Auto Stop may be configured to one of the following levels:

AutoStop Level	Action
Status Only	No action is taken. Note: The No Transducer Auto Stop cannot be set to Status Only. The Transducer Overflow Auto Stop cannot be set to Status Only for certain feedback types.
External Halt	An External Halt is initiated. An External Halt only sets the External Halt status bit. No other action is taken.
Closed Loop Halt	If the axis is currently in Position or Velocity Closed Loop Control, then a Closed Loop Halt is initiated, otherwise an Open Loop Halt is initiated. Note: The No Transducer, and Noise Error Auto Stop bits cannot be set to Closed Loop Halt. The Transducer Overflow Auto Stop cannot be set to Closed Loop Halt for certain feedback types.
Open Loop Halt	An Open Loop Halt is initiated.
Direct Output Halt	A Direct Output Halt is initiated.
Disable Axis Halt	A Disable Axis 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	Value	Level
0	0	0	0	Status Only
0	0	1	1	External Halt
0	1	0	2	Closed Loop Halt
0	1	1	3	Open Loop Halt
1	0	0	4	Direct Output Halt
1	0	1	5	Disable Axis Halt

Auto Stop Bit Mapping

RMC75/150

Axis Parameter

RMC200

Axis Parameter

Data Type

Tag Name and Bits

106

DWORD

AutoStopCfg1.FollowErr	bits 0-2	Following Error
-	bits 3-5	Reserved
AutoStopCfg1.OutSat	bits 6-8	Output Saturated
AutoStopCfg1.FaultIn	bits 9-11	Fault Input
AutoStopCfg1.PosLimitIn	bits 12-14	Positive Limit Input
AutoStopCfg1.NegLimitIn	bits 15-17	Negative Limit Input
AutoStopCfg1.NoTrans	bits 18-20	No Transducer
AutoStopCfg1.TransOverflow	bits 21-23	Transducer Overflow

107

DWORD

AutoStopCfg2.NoiseErr	bits 0-2	Noise Error
AutoStopCfg2.PosOvertravel	bits 3-5	Positive Overtravel
AutoStopCfg2.NegOvertravel	bits 6-8	Negative Overtravel
AutoStopCfg2.CmdErr	bits 9-11	Command Error
AutoStopCfg2.CmdMod	bits 12-14	Command Modified
AutoStopCfg2.CfgErr	bits 15-17	Configuration Error
AutoStopCfg2.RunErr	bits 18-20	Runtime Error
AutoStopCfg2.OutFault	bits 21-23	Output Fault

108

DWORD

AutoStopCfg3.PFNoTrans	bits 6-8	No Transducer (Pressure/Force)
AutoStopCfg3.PFTransOverflow	bits 9-11	Transducer Overflow ((Pressure/Force)
AutoStopCfg3.PFNoiseErr	bits 12-14	Noise Error (Pressure/Force)
AutoStopCfg3.PFFollowErr	bits 15-17	Following Error (Pressure/Force)