Good evening,

I have a S7-1500 (TIA V19) and a S200 PN (fw 6.3 HF7) with absolute encoder motor (EPOS with TEL112)

I want to perform a homing on a fixed end stop and I noticed from the manual (S200_PN_1FL2_op_instr_0524_en-US.pdf) , that the method to achieve this, is to create a traversing block with FIXED STOP task, but there's nothing more described to issue an encoder adjustment.

BUT!...

I've also noticed that in telegram 112 in STW2 control word there is this bit 

Bit 08  1 = Travel to fixed stop

and then in POS_ZSW2 status word there are these bits:

12 1 = Fixed stop reached

13 1 = Fixed stop clamping torque reached

14 1 = Travel to fixed stop active

How am I suppose to use those bits?

What is the procedure to achieve an encoder adjustment on a fixed end stop? 

It seems to be a lack of documentation on this feature. 

Can somebody help me?

 How to achieve fixed stop? Should I use a traversing block or these bits?

 STW2

08  1 = Travel to fixed stop

 POS_ZSW2

12 1 = Fixed stop reached

13 1 = Fixed stop clamping torque reached

14 1 = Travel to fixed stop active

jacek d

Once fixed stop is reached activate adjustment. When it's done, copy RAM to ROM.

simonspt

 How to achieve fixed stop? Should I use a traversing block or these bits?

I'd follow the manual, i.e. a traversing block. 

I've managed to create a traversing block for fixed stop. To test it I'm blocking the motor by clamping it with my hands, but when the fixed stop is reached, how do I manage to abort the fixed stop feature to make the motor stay standstill? 

If i let go the motor, it starts to spin and an alarm "fixed stop outside the monitoring window" shows up.

I'd want to stop the axis as long as the fixed stop has been reached.

Any suggestion?

After some time spent to test the FES functionality, the only way I found to stop the axis is to remove OFF3/OFF1 , or issue an MDI positioning command (not Setup), after FES has been reached.

Anyone has a better method?