Bosch 6000 User's Guide download pdf (Page 111)

6000 Series Programmer's Guide

Stall Detection & Kill-on-Stall

The ESTALL1 command allows the controller to detect stall conditions. If used with Kill-on-

Stall enabled (ESK1 command), the move in progress will be aborted upon detecting a stall.

If queried with the ER or the AS commands, the user may branch to any other section of

program when a stall is detected. Refer to the ENC, ER, and AS command descriptions in the

6000 Series Software Reference for more information.

Stall Detection functions in either motor step or encoder step mode. Kill-on-Stall functions

only if the stall detection is enabled (ESTALL1).

WARNING

Disabling the Kill-on-Stall function with the ESKØ command will allow the controller to finish

the move regardless of a stall detection, even if the load is jammed. This can

potentially damage user equipment and injure personnel.

Stall Deadband

Another encoder set-up parameter is the Stall Backlash Deadband (ESDB) command. This

command sets the number of motor steps of error allowed, after a change in direction, before a

stall will be detected. This is useful for situations in which backlash in a system can cause

false stall situations.

Encoder Set Up Example

The example below illustrates the features discussed in the previous paragraphs. The first

statement defines the motor resolutions. The next statement defines the number of encoder

steps per encoder revolution. Standard 1000-line encoders are used on all axes that produce

4000 quadrature steps/rev. Stall detect and kill-on-stall are enabled. If a stall is detected, the

motor's movement is killed. The next group of commands define the deadband width and

enable the position maintenance function. The controller will attempt to move to the correct

encoder position until it is within the specified deadband.

Examples

DRES25000,25000,25000,200 ; Set drive resolution

ERES4000,4000,4000,4000 ; Set encoder resolution

ESK1111 ; Enable kill motion on stall

ESDB0,0,10,10 ; Set stall deadband

ESTALL1111 ; Enable stall detection

EPMG1000,1000,1000,10001 ; Set position maintenance gain

EPMV1,1,1,1 ; Set position maintenance velocity

EPM1111 ; Enable position maintenance

ENC1111 ; Enable encoder step mode

Use the Encoder as a Counter

Each encoder channel can be redefined as a 16-bit up/down counter. The CNTE command

redefines the encoder channels. The direction of the count is specified by the signal on the

encoder channel B+ and B- connections. A positive differential signal, when measured

between B+ and B-, indicates a positive count direction. A negative differential signal, when

measured between B+ and B-, indicates a negative count direction.

The count itself is determined from the signal on A+ and A-. Each count is registered on the

positive edge of a transition for a signal measured between A+ and A-. To reset the counter,

issue the CNTR command or apply a positive differential signal to Z+ and Z-. The counter

will be reset on the rising edge. Allow 50µs for the counter to reset, and allow 50µs after

reset for counting to begin.

The value of the counter can be accessed at any time through the hardware registers or by

doing a software transfer (TCNT). The hardware registers provide information on encoder

position, but when an encoder input is defined as a counter, the information in the register is a

count value.

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Bosch 6000 User's Guide Page 111

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