Emergency stop ramps and software limit switches of the joints
Emergency stop ramps and software limit switches are configured for all available kinematic models using the following setting fields:
Parameter name | Additional information |
|---|---|
Emergency stop deceleration | Rate of deceleration with which the joint axis brakes during an emergency stop. |
Emergency stop jerk | Jerk with which the deceleration of the joint axis is generated during an emergency stop. This setting is used for jerk limitation to prevent impacts and damage to the mechanical components. |
Software limit switches | Permitted range of the joint axis. If this range is exceeded, a fault status occurs. Select the software limit switches in such a way that they are located in front of the software limit switches of the inverters within the work envelope and away from the software limit switches of the inverters by the braking distance. |
For further information, refer to chapters Sets of motion parameters, Calculating the motion parameters and Software limit switches.
