12/14/2020 2:33 PM | |
Joined: 12/2/2020 Last visit: 4/12/2024 Posts: 40 Rating: (0) |
Thanks for your answer, I have another problem, I want to work with force/torque limiting without fixed stop detection:
Kind regards ------------------------------------------------------------------------------------------ |
Last edited by: Jen_Moderator at: 12/15/2020 07:59:34New subject after splitting |
|
12/15/2020 4:08 PM | |
Joined: 10/11/2006 Last visit: 10/30/2024 Posts: 5931 Rating: (813)
|
Hello, torque limiting limits only the available toque for the motor. Additionally you do positioning or moving speedcontrolled to get a movement. When positioncontroller is working, you get a deviation between command and actual position when motor has not enought torque to follow. But when load of the motor becomes smaller, position deviation will be reduced as fast as possible, because the position controller. When you want to move out of a fixed endstop, first you have to set actual position to command position. For this you can use MC_Move velocity (speedcpntrolled) with speed = 0. After this, you can use positioning command. Manual 3.10.4.2 Fixed stop detection (S7-1500, S7-1500T) 7.15.3.2 MC_TorqueLimiting: Function chart V5 (S7-1500, S7-1500T) https://support.industry.siemens.com/cs/ww/en/view/109766462 |
With best regards, |
|
Follow us on