Hello,

I need to perform some movements with axis, and in case of exceeding of set torgue limit I need to perform another movement and again go to previous program. What is the best solution?

Thaks for your answers.

Vojtech Myslivec

You better define a kind of logic chain at first.

There are a lot of way you can follow up to do it. First you start the move with the torque reduction. As soon as you have the torque feedback reached you have to step in the following action (an opposite move for instance). You can use a motion task or just using the background task.

pigroplc

Thanks for Your answer.

I understand your advice, but I need to make some movements and in case of exceeding torgue I need to go back and then to the previous position and after that I need to return to the interrupted program and continue ... And I dont know, how to do it.

Thanks.

Vojtech Myslivec

Extend your telegram so you can read torque from the drive.  If the torque is exceeded, then go to your abort sequence.  I do this for my cutting motors to check for worn tools.

Ok, understand. Which telegram shoud I use? Or how to extend telegram?

Thanks.

You better use the torque limit instruction and just read out the status of the flag if the torque limit is reached or not than take the option you want. If you are using the fb axis from the library you either have everything already developed. Just plug and play.

As mentioned before you can add the torque value in the I/O tab just selecting on the project (use symbolic) and go to the I/O folder and define the IN parameter in the address column and assign column select the R80 from Sinamics.

pigroplc