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6-76
Drive Control
Leaving the Inadmissible Travel
Note:
Shutting down the axis using a velocity command value ramp
is not possible! Shutdown is always carried out as quickly as
possible with maximum allowed torque/force.
After the allowed travel range has been exceeded, the command values
Range
are checked for validity and only such command values are accepted that
lead back to the allowed travel range.
Note:
Moving to the allowed travel range is also possible in the case
of error!
Notes on Commissioning
When parameterizing the position limit values, the position of the travel
range limit switches has to taken into consideration. The working range
defined with the two position limit values (S-0-0049, S-0-0050) should be
within the working range defined with the travel range limit switches. As
long as the position data reference hasn't been established yet (axis not
homed), the function of the software limit switches (position limit values)
isn't guaranteed yet. Independent thereof is the function of the travel
range limit switches that always causes the drive to be switched off when
the defined limit is exceeded and therefore avoids collision (machine
protection).
realization of
working range
limit
software limitation
via drive controller
switch evaluation
via drive controller
switch integration
in higher-level
E-Stop circuit
Fig. 6-50:
Realizations and operating principles of working range limitations
Note:
The safety limit switches that can be included in the E-Stop
circuit (see separate documentation "Project Planning Manual
for Power Sections") are the last safeguard by the drive. In
addition, position limit values can also be monitored by the
control master.
MPH-02, MPB-02, MPD-02
working range
limits
working range
machine table
position limit values
power off
drive system
active after
homing cycle
power off
travel range
drive system;
braking with max.
limit switch
acceleration
power off by
safety
higher-level
limit switch
E-Stop circuit
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
operating prin-
ciple of working
range limit
DF0013v2.fh7
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