Beckhoff AX2000 Shutdown Braking and Debugging

3.2 Power on/off and power failure response behavior

AX2000 has configurable response strategies for power on/off and input phase loss, controlled by parameters STOPMODE and ACTFAULT:

STOP MODE ACTFAULT fault/motor behavior during shutdown

0 (default) 1 (default) Motor free sliding stop (no control braking)

1. The motor applies controlled braking along the emergency stop ramp

Phase response (PMODE parameter):

Set as Warning (n05): Only output a warning, limit the motor current to 4A, and determine the shutdown strategy by the upper computer.

Set as Error (F19): Immediately trigger the fault, disable the output stage, disconnect the BTB/RTO contacts, and apply emergency ramp braking to the motor.

Chapter 4: EN 60204 Stop Categories Engineering Implementation

4.1 Definition of Shutdown Categories and Corresponding Scheme for AX2000

EN 60204 defines three types of shutdown, and AX2000 requires external hard wired safety relays to be used in conjunction:

Category 0- Immediately cut off the power supply

Requirement: Hard wired and positively acting electromechanical components must be used to directly cut off the main power supply of the driver, and cannot be triggered through software or communication networks.

AX2000 Implementation Plan: Connect the main contactor (K10) in series on the main power input side (L1/L2/L3) of the drive, and the emergency stop button directly cuts off the contactor coil. At the same time, the brake must also be controlled through independent electromechanical contacts (non AX2000 electronic outputs).

Limitations: This method can lead to frequent charging and discharging of the DC bus, and there is contact wear when the contactor is loaded and disconnected.

Category 1- Cut off power after controlled braking

Requirement: Maintain power supply to complete braking, and cut off power supply by electromechanical components after braking is completed.

AX2000 Implementation Plan:

After the emergency stop button is triggered, keep the 24V auxiliary power supply unchanged, but remove the ENABLE signal (or set the speed setting value to 0 through PLC).

Use the built-in brake ramp (controlled deceleration) of AX2000 to stop the motor.

Set sufficient deceleration time (t (K10t)) through a delay relay (time relay), and after the motor comes to a complete stop, disconnect the main contactor (cut off the main power supply) and the safety relay of the brake.

Must meet: The delay time must be longer than the actual deceleration time to ensure that the motor has completely stopped before cutting off the main power supply.

Category 2- Controlled shutdown but maintaining power

Requirement: The motor is controlled to shut down, but the power supply remains connected.

AX2000 Implementation Plan: Directly achieve by removing the ENABLE signal or resetting the set value to zero, without continuously opening the main contactor. Suitable for shutdowns during normal work cycles, not emergency situations.

4.2 Security application of optional AS Restart Lock

The - AS option of AX2000 is equipped with a certified safety relay (positive action contact), which can achieve personnel safety restart locking by safely cutting off the output stage drive power and short circuiting the internal set value to AGND without cutting off the main power supply.

Application Scenario:

When the safety door is opened, lock the corresponding shaft or shaft group (even if the DC bus is still live).

In teaching/setting mode, only the controlled axis is allowed to move, and the rest of the axes are securely locked.

Mandatory safety requirements:

-The monitoring contacts (KSO1/2) of AS must be connected in series to the control circuit to detect internal relay or cable disconnection faults.

Activation sequence (must be strictly followed):

Controlled deceleration to a speed of 0 rpm (set to zero).

Remove the ENABLE signal (output stage disabled).

An additional mechanical lock (such as a brake) is required to suspend the load.

Activate - AS option (safety relay powered on).

Chapter 5: Feedback Interface Configuration and Multi Feedback Combination Strategy

5.1 List of supported feedback types

AX2000 supports extremely rich feedback interfaces, which can be flexibly configured through parameters FBTYPE (main feedback) and EXTPOS/GEARMODE (auxiliary feedback):

Typical application of FBTYPE main feedback type interface

Resolver X2 0, 3 standard motor feedback, strong anti vibration performance

SinCos+EnDat 2.1 X1 3,4 high-precision absolute encoder (Heidenhain)

SinCos+HIPERFACE X1 2, 3 SICK/Stegmann encoder

SinCos+BISS X1 20 new digital protocol, supporting parameter upload

SinCos does not have a data channel X1 6, 7 and requires phase acquisition through EEPROM or Wake&Shake

Incremental encoder (RS422 5V) X5 8, 9 universal A quad B signal

Incremental encoder+Hall X1 (with Hall Dongle) 11, 12 low-cost solution with Hall commutation

5.2 Main/auxiliary feedback combination (electronic gear/master-slave application)

AX2000 supports using external encoders or pulse/direction signals as auxiliary feedback to achieve Electronic Gearing or Master Slave synchronization. The allowed combination methods are extremely flexible: