Siemens SINAMICS V90 Operating Instructions Manual page 162

Control functions
7.2 General functions
Function behavior in IPos control mode
An adjustable monitoring window for travel to fixed stop prevents the drive from traveling
beyond the window if the fixed stop should break away.
In IPos mode (p29003 = 1), this function is started when a traversing block is processed with
the FIXED STOP command (specified in p2621[0...7]). In this traversing block, the dynamic
parameterized position, speed, acceleration override and deceleration override are specified.
From the start position onwards, the target position is approached with the parameterized
speed. The fixed stop (the workpiece) must be between the start position and the braking
point of the axis; that is, the target position is placed inside the workpiece. The preset torque
limit is effective from the start, i.e. travel to fixed stop also occurs with a reduced torque. The
preset acceleration and deceleration overrides and the current speed override are also
effective.
Note
F7452 is disabled when the function of travelling to fixed stop is activated.
Fixed stop is reached
As soon as the axis comes into contact with the mechanical fixed stop, the closed-loop
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. If the actual position following
error exceeds the value set in parameter p2634 (fixed stop: maximum following error), fixed
stop is reached.
Once the "Fixed stop reached" status has been detected, the traversing task "Travel to fixed
stop" is ended.
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 be referenced using the control signal "Set reference point".
If the axis leaves the position that it had at detection of the fixed stop by more than the
selected monitoring window for the fixed stop p2635, the speed setpoint is set to 0, 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 the parameter p2635 ("Fixed stop
monitoring window"). It applies to both positive and negative traversing directions and must
be selected such that it will only be triggered if the axis breaks away from the fixed stop.
Fixed stop is not reached
If the brake application point is reached without the "fixed stop reached" status being
detected, then the fault F07485 "Fixed stop is not reached" is output with fault reaction OFF1,
the torque limit is canceled and the drive cancels the traversing block.
162
SINAMICS V90, SIMOTICS S-1FL6
Operating Instructions, 09/2016, A5E36037884-002