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7. MAINTENANCE & TROUBLESHOOTING 193
A note about “Controlled stop”.
A controlled stop will be attempted if the trajectory generator was commanding motion at the
time of the fault. If the commanded motion was due to following, then the indexer will disable
following, that is there will be no ramp down of velocity.
If the drive was following and doing a superimposed move, then the superimposed move will
be subject to the ramp down of velocity and once that has stopped, following will be
disabled.
On base drives there is never any controlled deceleration of the motor. A fault will de-
energise the drive.
On a ViXIM in MB mode, the trajectory generator is used to control the velocity, so those
faults that lead to a controlled stop will act in a similar way to other indexed moves.