Description of the Software Modules and Parameters
Parameter manual
b maXX
BM5800
Document No.: 5.16029.03
511
3
3.8.1.1 Moving to positive stop command
With this function it is possible to move with an adjustable torque against a mechanical
stop without an error message or an error switch off by the controller. The function can
be used to fix a component for instance.
Requirements:
m
The command is only available in the "Position control (-4)" operating mode. The com-
mand is ignored at all other operating modes.
m
The command cannot be used with master-slave torque coupling or gantry axes.
m
The "N=0" message must operate correctly. Therefore the parameter
Standstill
threshold must be greater than the noise of the speed actual value at standstill always.
m
The specified speed set value during the command must be greater than the standstill
threshold.
m
The parameters
Homing blocking time and
Homing torque limit
must be set properly. On the one hand the reduced torque limit must be selected great
enough in order to decide safely the reaching of the torque limit, on the other hand the
reduced torque limit must be selected small enough in order to exclude a damage of
the positive stop.
Options:
The options can be adjusted in parameter
Mode positive stop drive.
m
Monitoring of the positive stop
The stop at the positive stop can be monitored by a symmetrical monitoring window. A
new drive error is generated if the position actual value is out of this window.
The n=0 message can be monitored instead of using the monitoring window.
The error reaction can be set on demand. Default reaction = pulse inhibit.
m
The reduction of the torque limit can be switched off via
.
Process:
The command is enabled by setting bit 0 in
. The controller acknowledges this
by setting bit 0 in
Status positive stop drive. The controller reduces at once the
torque limits by means of the set values in
Homing torque limit, i.e. moving
against the positive stop occurs with reduced torque limits. The master control provides
the speed profile in the position control operating mode and must therefore consider the
available reduced torque in the set value profile. The blocking monitoring, position error
monitoring and the speed control deviation monitoring are switched off in the controller
when starting the command.
The messages "N=0" (
) and "Torque current set value is limited" (
bit 13)
are used to detect the positive stop. Copies of these messages are available in the bits 8
and 9 of the
Status positive stop drive. The copies are available only during on
active command.
The controller sets the message "Positive stop reached" when both conditions are fulfilled
during
Homing blocking time. Simultaneously with the setting of the message
the effective position actual value at the stop position is stored in parameter
, the
optional positive stop monitoring is activated and the cyclic set values from the master
control are ignored.
