8. Functions of the DLC Single-Axis Positioning Module
• DOK-CONTRL-DDC+MDD+DLC-ANW1-EN-E1,44 • 01.97
83
Recognizing the dead
stop
The dead stop is recognized if the lag distance has grown to fourfold the
usual value (lag distance = speed/KV factor).
If the dead stop is not recognized within the programmed path plus fivefold
the lag distance, then there is a switching to the next program block.
The dead stop can only be recognized 20 ms after reading the PFI or PFA.
Program example
Fig 8.12: Program example
Warning
As a result of the torque limit, errors can occur when running to the dead
stop. The following table lists several typical errors and the remedial actions
to take to clear them.
Fig 8.13: Errors when running against the dead stop
8.6.
Interrupt Vector (Jump on Event)
An automatic program in progress can be interrupted by means of a swit-
ching signal and then continued at the interrupt program address. This can
be used to initiate an automatic return in the event a tool should break (tool
monitoring required). The interrupt function is released via parameter B 012.
0100 MOM 1 060 020
0101 POA 1 +000450.00 300
0102 VCA 1 +000400.00 100
0103 PFA 1 +000510.00 100 *)
0104 JMP 0200
0105 BCE 0120 02 1
0106 JMP 105
0120 PSA 1 +000000.00 999
0121 JST 0100
0200 AEA 07 1
0201 PSA 1 +000000.00 999
0202 JST 0000
• torque limit: 60% to dead stop; 20% at dead stop
• start run with 30% of vmax
• speed at +400 reduce to 10%
• run against dead stop to Pos.510 with v=10%.
• jump to error routine
• jump to block 0120, if inut 02 is set (work completed).
• loop
• return to Pos. 0 with maximum speed
• jump to stop after block 0100 (wait for next cycle).
• set error output 07
• return to Pos.0 at maximum speed
• jump with stop after block 0000
*) Jump to next after block if dead stop is recognized. If dead stop is not recognized, then
the program jumps to the next block.
Source of danger:
The speed with which the dead stop is being
approached is too high.
Possible consequences:
Machine damage can result despite torque
limit.
How to avoid:
Program speed appropriate to ambient conditions.
Error
Cause
Remedial action
Drive error 78 is signalled
when running to the dead
stop
Drive cannot follow
Reduce speed; Increase torque
to dead stop
Drive does not run. Pro-
gram jumps to next after
block
Torque is limited to below
the friction torque
Increase torque to dead stop
Error 78 is signalled after
reaching the dead stop
Monitoring Speed control-
ler actuated
Decrease torque at dead stop,
possibly torque to dead stop as
well
Dead stop not reached. Pro-
gram jumpts to next block.
Traversing path too short
Program a longer traversing
path