Description

When a target position is travelled to, the position monitoring function monitors whether the actual position reaches an exact stop window within a specific time (Figure 1-1).

Sequence

Travel to a target position with position monitoring takes place in two steps:

1. The command position of the axis has reached its programmed target position when the interpolator no longer delivers any command values. The timeout is started at the time t₁.
2. The timeout is deactivated at the time t₃ when the actual position of the axis is within the exact stop window.

Parameterization

The position monitoring parameters are defined as follows:

• The maximum permissible transient response time in which actual position must have reached the exact stop window is set with the P-AXIS-00151 parameter.
• The exact stop window is defined with the P-AXIS-00236 parameter.

When exact stop (G60) is programmed, an axis has reached the target position when the actual position lies within the same position window.

Recommended parameter definitions Transient response time: P-AXIS-00151 = 10 to 200ms Exact stop window: P-AXIS-00236 = 3 · ∆sStandstill;∆sStandstill : real following error at standstill