Moving To Positive Stop Command - Baumuller b maXX BM3000 Operating Manual

Description of the Software Modules and Parameters

4.8.1.1 Moving to positive stop command

With this function it is possible to move with an adjustable torque against a mechanical
stop without an error message or an error switch off by the controller. The function can
be used to fix a component for instance.
Requirements:
m The command is only available in the "Position control with synchronous position set
m The command cannot be used with master-slave torque coupling or gantry axes.
m The "N=0" message must operate correctly. Therefore the parameter
m The specified speed set value during the command must be greater than the standstill
m The parameters
Options:
The options can be adjusted in parameter
m Monitoring of the positive stop
m The reduction of the torque limit can be switched off via Z120.12–.
Process:
The command is enabled by setting bit 0 in Z121.21–. The controller acknowledges this
by setting bit 0 in
torque limits by means of the set values in
against the positive stop occurs with reduced torque limits. The master control provides
the speed profile in the position control operating mode and must therefore consider the
available reduced torque in the set value profile. The blocking monitoring, position error
monitoring and the speed control deviation monitoring are switched off in the controller
when starting the command.
The messages "N=0" (Z6.2–) and "Torque current set value is limited"
are used to detect the positive stop. Copies of these messages are available in the bits 8
and 9 of the
active command.
The controller sets the message "Positive stop reached" when both conditions are fulfilled
during
the effective position actual value at the stop position is stored in parameter Z121.4–, the
optional positive stop monitoring is activated and the cyclic set values from the master
control are ignored.
value specification (-4)" operating mode. The command is ignored at all other operating
modes.
threshold must be greater than the noise of the speed actual value at standstill always.
threshold.
Z120.11–
must be set properly. On the one hand the reduced torque limit must be selected great
enough in order to decide safely the reaching of the torque limit, on the other hand the
reduced torque limit must be selected small enough in order to exclude a damage of
the positive stop.
The stop at the positive stop can be monitored by a symmetrical monitoring window. A
new drive error is generated if the position actual value is out of this window.
The n=0 message can be monitored instead of using the monitoring window.
The error reaction can be set on demand. Default reaction = pulse inhibit.
Z121.22–
Z121.22–
Status positive stop drive. The copies are available only during on
Z120.11–
Homing blocking time. Simultaneously with the setting of the message 
Homing blocking time and
Z121.23–
Status positive stop drive. The controller reduces at once the
Z120.12–
Parameter manual b maXX BM3000
Document no.: 5.12001.07
Z6.1–
Z120.12–
Homing torque limit
Mode positive stop drive.
Homing torque limit, i.e. moving
(Z18.20–
4
Standstill
bit 13)
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