Measuring travel on a fixed stop
Default settings
During measuring with movement on a fixed stop in all involved drives a torque limitation has to be activated and an eventually existing drive-based position lag monitoring has to be deselected.
Measurement on the path
The measuring is finished, if in one of the involved axes the fixed stop has been detected.
Measurement with gantry axes
In gantry systems (soft- and hard gantry) it is always measured with the master axis. During measuring the slave axes are moved along. Therefore, during movement on a fixed stop in the drives of the slave axes also the torque limitation has to be activated and the position lag monitoring has to be deselected.
 | Alternatively, to the NC program (#IDENT...) for TwinCAT systems the activation of torque limitation respectively the deactivation of position lag monitoring in the drives can also be executed in the PLC (via ADS). |
Channel parameters
For measuring with movement on a fixed stop in the channel parameters list P-CHAN-00057 (messtyp) has to be set:
P-CHAN-00057 | Measurement type 7 for measuring with movement on a fixed stop:
|
Selection of measurement type in NC program
Alternatively the measurement type can be changed in NC program with the command #MEAS MODE[7].
Axis parameters
The following entries must be assigned in the axis parameter lists:
P-AXIS-00330 | Selection ofmeasurement signal source fixed stop: kenngr.meas_signal_fixed_stop 1 |
P-AXIS-00331 | Limit for position lag: kenngr.fixed_stop_pos_lag_limit z.B mit Wert 10000 [0,1 µm bzw. 0,0001°] |
P-AXIS-00332 | Number of position controler cycles: kenngr. fixed_stop_nbr_cycles z.B mit Wert 10 |
Sequence of measurement travel
The measuring with movement on a fixed stop for example for SERCOS drives can be described in the following sequence:
NC-Program (User):
1. Reduce the bipolar torque limit value S-0-0092 for all drives involved in measuring (e.g. via NC command #IDENT WR SYN)
2. Deselect position lag monitoring in the drives: Ident S-0-0159 = 0
3. Start measurement (G100)
CNC:
4. Deselect position lag monitoring in position controler for all axes involved in measuring
5. Begin of measuring
6. Taking over of the actual position as measurement value, if the position lag exceeds the given limit P-AXIS-00331. In gantry systems only the master axis is monitored.
7. Interpolation to the measurement value to reduce the position lag of the axes
8. Select position lag monitoring in position controler
NC-Program (User):
9. Move away from fixed stop (e.g. G01)
10. Select position lag monitoring in the drives (Set S-0-0159 on the original value)
11. NC-Program: Disable torque limitation in the drives (Set S-0-0092 on the original value)
Programming example
Measuring with movement on a fixed stop in a gantry system (soft gantry):
%Meas_fixed_stop
; Activate soft gantry
N010 G0 X100 X2=0
N020 #SET AX LINK[1,[X2=X,G,15,20]]
N030 #ENABLE AX LINK[1]
;Read values from the drives
N040 #IDENT RD [AXNR 1 ID S-0-0092 P=P1092 TYP 2 DEC 0 SERC]
N050 #IDENT RD [AXNR 1 ID S-0-0159 P=P1159 TYP 4 DEC 0 SERC]
N060 #IDENT RD [AXNR 4 ID S-0-0092 P=P2092 TYP 2 DEC 0 SERC]
N070 #IDENT RD [AXNR 4 ID S-0-0159 P=P2159 TYP 4 DEC 0 SERC]
;Activate torque limitation
N080 #IDENT WR SYN [AXNR 1 ID S-0-0092 VAL=100 TYP 2 DEC 0 SERC]
N090 #IDENT WR SYN [AXNR 4 ID S-0-0092 VAL=100 TYP 2 DEC 0 SERC]
;Disable position lag monitoring in the drives
N100 #IDENT WR SYN [AXNR 1 ID S-0-0159 VAL=0 TYP 4 DEC 0 SERC]
N110 #IDENT WR SYN [AXNR 4 ID S-0-0159 VAL=0 TYP 4 DEC 0 SERC]
;Start measuring
N120 G100 X1000 Y1000 Z1000 Z2=1000 F1000
;Move away from fixed stop
N130 G01 X100 F1000
;Enable position lag monitoring
N140 #IDENT WR SYN [AXNR 1 ID S-0-0159 VAL=P1159 TYP 4 DEC 0 SERC]
N150 #IDENT WR SYN [AXNR 4 ID S-0-0159 VAL=P2159 TYP 4 DEC 0 SERC]
;Deactivate torque limitation
N160 #IDENT WR SYN [AXNR 1 ID S-0-0092 VAL=P1092 TYP 2 DEC 0 SERC]
N170 #IDENT WR SYN [AXNR 4 ID S-0-0092 VAL=P2092 TYP 2 DEC 0 SERC]
N180 M30