Technical data

Configuration
CPU 317T: Technology Functions
4-44 A5E00251798-03
Torque over maximum
The fixed end stop detection function "at violation of torque limits" requires that the
digital drive of the axis supports torque limiting, and that a corresponding telegram
is set for drive communication, Example: telegram 102 or 105.
Approach to fixed end stop
The "MC_MoveToEndPos" enables the "Approach to fixed end stop" function, and
thus sets a clamping torque after the axis reaches the fixed end stop. This
operation is referred to as clamping.
The motion is stopped when the axis reaches the fixed end stop, and the control
remains active. The setpoint value at the position controller input is held constant.
New commands directing the motion towards the clamping position are canceled,
while new motion control commands directed towards release are executed and
thus reduce torque. The start position for new motion control commands in release
direction is the setpoint position of the axis.
The setpoint position of the axis is derived from the position value at the fixed end
stop
• plus the following error when the Following error violation function is set,
• plus the clamping tolerance at the fixed end stop, with torque limits violation.
Marginal conditions of fixed end stop detection
• The "Approach fixed end stop" function is reset when the axis moves out of the
clamping tolerance window.
• A new command can also be output to toggle the direction of torque when
clamping is active.
• Non-stepped torque transitions, torque retention over a defined time period and
torque profiles can be implemented in the user program.
• The approach to the fixed end stop (clamping) can be disabled by setting a
reverse positioning command.
• A reversal command MC_MoveToEndPos is not permitted and is ignored.
• A mechanical break of the end stop is monitored by means of the actual value
of the axis (clamping tolerance window monitoring).
• The torque limit of the drive is set in [N/m] at input parameter Torque of the
"MC_MoveToEndPos" technology function.
• If the command is busy and the fixed end stop not detected, the system reacts
as with active torque limiting.