Velocity Edge GX440 Instructions d'exploitation télécharger pdf (Page 396)

Functions, monitoring, and protective functions

9.4 Extended functions

Drive converter cabinet units

396 Operating Instructions, 10/2008, A5E00288214A

Fixed stop reached

As soon as the axis comes into contact with the mechanical fixed stop, the closedloop

control in the drive raises the torque so that the axis can move on. The torque increases up

to the value specified in the task and then remains constant. Depending on the binector input

p2637 (fixed stop reached), the "fixed stop reached" status bit r2683.12 is set if:

● the following error exceeds the value set in parameter p2634 (fixed stop: maximum

following error) (p2637 = r2526.4)

● external status via the signal at binector input p2637 (fixed stop reached), if this p2637 ≠

r2526.4

For traversing to fixed stop, the clamping torque in the traversing block is configured via the

task parameter. This is specified in units of 0.01 Nm. The function module is coupled to the

torque limit of the basic system via the connector output r2686[0] (torque limit upper) or

r2686[1] (torque limit lower), which are connected to the connector input p1528 (torque limit

upper scaling) or p1529 (torque limit lower scaling). The connector outputs r2686[0] (torque

limit upper) and r2686[1] (torque limit lower) are not set to 100 % during active fixed stop.

During an active fixed stop, r2686[0] (upper torque limit) or r2686[1] (lower torque limit) are

evaluated as p1522/p1523 in such a way that a limitation to the predefined clamping torque

is applied.

When the fixed stop is acknowledged (p2637), the "Speed setpoint total" (p2562) is

recorded, as long as the binector input p2553 (fixed stop reached message) is set. The

speed control holds the target torque on the basis of the available speed setpoint. The target

torque is output for diagnosis via the connector output r2687 (torque setpoint).

In the fixed stop, if the parameterized clamping torque has been reached, the status bit

r2683.13 "fixed stop clamping torque reached" is set.

Once the "fixed stop reached" status has been detected, the traversing task "traverse to

fixed stop" is ended. Block relaying is carried out in accordance with the parameterization.

The drive remains in fixed stop until the next positioning task is processed or the system is

switched to jog mode. The clamping torque is therefore also applied during subsequent

waiting tasks. The continuation condition CONTINUE_EXTERNAL_WAIT can be used to

specify that the drive should remain in fixed stop until an external signal is given for

progression.

As long as the drive remains in fixed stop, the position setpoint is adjusted to the actual

position value (position setpoint = actual position value). Fixed stop monitoring and controller

enable are active.

Note

If the drive is in fixed stop, it can can be referenced using the control signal "set reference

point."

If the axis moves away from the position that it had at detection of the fixed stop by more

than the selected monitoring window for the fixed stop (p2635), then the status bit r2683.12

is reset. At the same time, the speed setpoint is set to zero, and fault F07484 "fixed stop

outside of the monitoring window" is triggered with the reaction OFF3 (quick stop). The

monitoring window can be set using parameter p2635 (Fixed stop monitoring window). It

applies to both positive and negative traversing directions and must be selected in such a

way that only a breaking away causes the alarm to be triggered.

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Velocity Edge GX440 Instructions d'exploitation Page 396

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