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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).
If the parameterized clamping torque or the clamping force is reached at the fixed stop, 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 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
(fixed stop reached) 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.
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.
Note
Changing a fault into an alarm
The fault can be changed into an alarm, which means that the drive program will advance to
the next specified block.
The target point must be sufficiently far inside the workpiece.
Enclosed Drives
Operating Instructions, 12/2018, A5E36652151A
Functions, monitoring and protective functions
9.4 Extended functions
685
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