Parameter

Drive object for torque limitation

The drive torque must be reduced for the “Move to fixed stop” function. An appropriate entry must therefore be made in the drive objects. If the controller finds no object with the name 'TORQUE_LIMIT' (see P-AXIS-00719), error message ID 70541 is output when the function is activated.

If no torque limit is programmed in the NC program, the controller uses the value in the parameter P-AXIS-00729 of the 'TORQUE_LIMIT’ torque object.

Command to deselect the safety functions in the drive

To enable a Move to fixed stop function, it is often necessary to disable other safety functions in the drive, e.g.: position lag monitoring Some SERCOS drives then support the S-0-0149 command.
As of CNC Build V3.1.3135.0, the CNC supports this command to move to fixed stop. To terminate the Move to fixed stop function, the command is also disabled by the CNC automatically and all safety functions are again active in the drive.

Example

Parameterisation for Move to fixed stop ident using
SERCOS S-0-0149 command

antr.fixed_stop.drive_ident[0].id FIXED_STOP

antr.fixed_stop.drive_ident[0].commu ACYCLIC

antr.fixed_stop.drive_ident[0].wr_ident S-0-0149

antr.fixed_stop.drive_ident[0].data_type UNS32

antr.fixed_stop.drive_ident[0].startup_value 0

antr.fixed_stop.drive_ident[0].scaling_type UNSCALED

antr.fixed_stop.drive_ident[0].mask NOT_USED

antr.fixed_stop.drive_ident[0].scaling_factor 1

antr.fixed_stop.drive_ident[0].active_value 1

antr.fixed_stop.drive_ident[0].use_startup_value 1

antr.fixed_stop.drive_ident[0].command 1

antr.fixed_stop.drive_ident[1].id TORQUE_LIMIT

antr.fixed_stop.drive_ident[1].commu ACYCLIC

antr.fixed_stop.drive_ident[1].wr_ident S-0-0092

antr.fixed_stop.drive_ident[1].data_type UNS16

antr.fixed_stop.drive_ident[1].startup_value 1000

antr.fixed_stop.drive_ident[1].scaling_type UNSCALED

antr.fixed_stop.drive_ident[1].max_limit 1000

antr.fixed_stop.drive_ident[1].min_limit 0

antr.fixed_stop.drive_ident[1].mask NOT_USED

antr.fixed_stop.drive_ident[1].scaling_factor 1

antr.fixed_stop.drive_ident[1].active_value 50

antr.fixed_stop.drive_ident[1].use_startup_value 1

Reloading parameters

While the controller is running, the following parameter settings can be changed by updating the axis parameter list or by using the #MACHINE DATA command:

position lag limit P-AXIS-00712
monitoring window P-AXIS-00713
number of position lag cycles P-AXIS-00714
error response if function aborted P-AXIS-00715
error response if fixed stop not detected P-AXIS-00716
reset warning message if fixed stop detected P-AXIS-00717
maximum torque P-AXIS-00718

For all other parameters of the “Move to fixed stop” function, new parameter values are not accepted when the controller is running. The controller must then be restarted for these parameters.