Siemens SINUMERIK 840D sl Function Manual page 366

Detailed Description
2.1 General functionality
Restrictions
The function FOC is subject to the following restrictions:
• The change of the torque/force limitation representing itself as an acceleration limitation
• Only FOC:
No monitoring is possible from the VDI interface to check that the active torque limit has
been reached.
• If the acceleration limitation is not adapted accordingly, an increase of the drag distance
during the traversing motion occurs.
• If the acceleration limitation is not adapted accordingly, the end-of-block position is
possibly reached later than specified in:
MD36040 $MA_STANDSTILL_DELAY_TIME
.
The machine data:
MD36042 $MA_FOC_STANDSTILL_DELAY_TIME
is introduced for this and monitored in this status.
Possible application link and container axes
All axes that can be traversed in a channel, i.e. also link axes and container axes, can be
traversed to fixed stop.
References:
/FB2/ Function Manual Extension Functions; Several Control Panels on Multiple NCUs,
Distributed Systems (B3)
The status of the machine axis is kept in the case of a container switch, i.e. a clamped
machine axis remains at the stop.
If a modal torque limitation has been activated with FOCON, this is kept for the machine axis
even after a container switch.
30
is only taken into account in the traversing movement at block limits (see command ACC).
Basic logic functions: Travel to fixed stop (F1)
Function Manual, 11/2006, 6FC5397-0BP10-2BA0