Enable type and stop function
You cannot explicitly select the enable mode as it results implicitly from the conditions described in chapter Robot states.
The drives are braked individually via the emergency stop in the inverter during emergency stop (axis-by-axis). No central profile generator is used for braking. This can cause the lower-level MOVIKIT® MultiAxisController to jam the mechanics in the "Torque priority" operating mode, and unexpected skew in the "Skew priority" operating mode.
For the application stop and emergency stop (true-to-path) stop functions, the robot decelerates while maintaining the path. The robot remains on the programmed path (LIN/CIRC/PTP with blending) and decelerates along it using the configured brake ramp. For an emergency stop (true-to-path), the jerk-limited emergency stop ramp from the configuration is used. For an application stop, the jerk-limited brake ramp from the motion parameter set (MotionSet) of the supplied path is used.
The "Enable" state is required for the robot to execute a motion in jog mode and in program mode. The following enable modes are available:
0: Emergency stop (axis-by-axis), 1: Emergency stop (true-to-path), 2: Application stop, 3: Release
This sequence corresponds to the hierarchy of the enable modes. A higher enable mode is activated if no cause for a lower enable mode applies.
The following table shows the differences in the various enable modes:
| Application stop | Emergency stop (true-to-path) | Emergency stop (axis-by-axis) |
|---|---|---|---|
Calculation of the braking operation | MOVIKIT® Robotics | MOVIKIT® Robotics | MOVIKIT® of the axis group member |
Path fidelity during braking | Yes | Yes | No |
Motion parameter set used for braking | Currently selected set of motion parameters | Parameterized motion parameter set of the emergency stop (except when jogging in the "Axis" coordinate system. The braking deceleration ramp of the MOVIKIT® axis group member is effective here) | Deceleration ramps of the MOVIKIT® axis group member |
Behavior of the inverters in idle state/standstill | Interpolated positioning control (with a specified, constant setpoint position) | Emergency stop by means of the brakes or the position hold control of the inverter | Emergency stop by means of the brakes or the position hold control of the inverter |
Path can continue after idle state/standstill | Yes | Yes, after one Repositioning (BackToPath) has been performed. | Yes, after one Repositioning (BackToPath) has been performed. |
Possible causes for activation | Jog mode or program mode is not activated. | No enable | Access to the axis group member is activated and, therefore, not set to "Upper". |
Possible causes for the software module | – | Fault status | Fault state if an emergency stop (true-to-path) is not possible. |
Possible causes of axis group members | – | – |
|
Possible causes of the safety controller | Requests application stop | Requests emergency stop | Requests emergency stop |
