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6 Description of the Functions
6.12 Travel to fixed endstop (positioning mode) (from SW 3.3)
What happens if
the fixed endstop
is reached?
6-596
If the axis moves to a fixed endstop, then the behavior is as follows:
S
The closed–loop drive control increases the torque for the axis up to
the programmed clamping torque, and then keeps it constant.
S
The "fixed endstop reached" status is reached as follows, depending
on P0114 (fixed endstop, configuration 2):
Table 6-66
Behavior, if the fixed endstop is reached
If
the following is valid for the "fixed endstop reached"
P0114 = 0
The status is automatically reached, if the following error ex-
ceeds the theoretically calculated following error by the value
(Standard)
entered in P0115:8.
Note:
S
Refer under the index entry "Dynamic following error moni-
toring"
S
The following applies for the target position:
Target position > position, fixed endstop + P0115:8 + brak-
ing travel
P0114 = 1
The status is only reached, if it is recognized via the "sensor,
fixed endstop" input signal.
S
The following applies after the "fixed endstop reached" status has
been recognized:
– The distance to go is deleted
– The position reference value is tracked
– The fixed endstop monitoring is activated
– The controller enable remains active
– The "fixed endstop reached" output signal is set
– Is the programmed clamping torque reached?
Yes
––> the output signal
"fixed endstop, clamping torque reached" is set
No
––> the behavior is dependent on P0113.1
Table 6-67
Behavior, if the clamping torque is not reached
If
P0113.1 = 0
Warning 889 is signaled
(Standard)
The block change enable is only realized, as programmed in
the block, only after the clamping torque has been reached.
P0113.1 = 1 Warning 889 is signaled and a block change is made
The block change enable is realized as programmed in the
block.
Note:
The block change enable CONTINUE FLYING, behaves just like the block
change enable CONTINUE WITH STOP.
SIMODRIVE 611 universal Description of Functions (FBU) – 04.05 Edition
status:
Then the following is valid:
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01.99
05.00
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