Technical data

Technology functions
CPU 317T: Technology Functions
6-90 A5E00251798-03
6.2.11 FB 415 MC_MoveToEndPos - Move to mechanical end stop /
clamping
Purpose
• The "MC_MoveToEndPos" technology function moves the axis into contact
with an obstruction and holds it at this position, for example at the end of a
traversing range.
• You define the dynamic characteristics of slave synchronization at the dynamic
parameters Velocity, Jerk, Acceleration, Deceleration.
• The traversing motion and the criteria for detecting the end position can be
defined in the axis configuration of S7T Config, e.g. the following error or
torque.
• If it is possible to limit the drive's torque, torque limiting is also effective at the
technology function when "Fixed end stop detection - with following error
monitoring" is set (setting in S7T Config > Limits > "End stop" tab.)
Applicable to
• Positioning axes (physical axes only)
• Synchronization axes (physical axes only)
Requirements
• The axis is enabled for position control
• No MC_Stop command busy
• Fixed end stop detection must be enabled for the axis.
Configuration: Set the "Limits > End stop > Fixed end stop detection"
parameter either to "following error out of limits" or to "torque out of limits".
• The relevant telegrams 101 to 105 are selected
• The drive supports the "MC_MoveToEndPos" technology function
Overriding commands
• Other motion commands can override the current command before the fixed
end stop is reached.
• When the axis is clamped at the fixed end stop (InClamping = TRUE), the
system only accepts commands for motions which release the axis from the
fixed end stop. The MC_MoveToEndPos command remains active until the
axis has moved out of the clamping tolerance window.
• MC_MoveToEndPos can only override an active MC_MoveToEndPos
command if both are in the same effective direction.