Example for SERVOS drive

NC program (user):

  1. Reduce bipolar torque limit S-0-0092 for all drives involved in the measurement run (e.g. by the NC command #IDENT WR SYN).
  2. Disable position lag monitoring in the drives:
    Ident S-0-0159 = 0
  3. Start measurement run (G100).

CNC:

  1. Disable position lag monitoring in the position controller for all axes involved in the measurement run.
  2. Start of measurement run
  3. Adoption of the actual position as a measured value as soon as the parameterised conditions for fixed stop detection are fulfilled. On gantry systems, only the master axis is monitored.
  4. Reduce interpolation to measured value by axis position lag.
  5. Enable position lag monitoring in the position controller.

NC program (user):

  1. Move away from fixed stop (e.g. G01).
  2. Enable position lag monitoring in the drives (set S-0-0159 to original value).
  3. NC program: Disable torque limiting in the drives (set S-0-0092 to original value).

Programing Example

prg_example

Measurement run to fixed stop with a gantry system
(Soft Gantry):

%Meas_fixed_stop

; enable SoftGantry

N010 G0 X100 X2=0

N020 #SET AX LINK[1,[X2=X,G,15,20]]

N030 #ENABLE AX LINK[1]

; read values from drives

N040 #IDENT RD     [AXNR 1 ID S-0-0092 P=P1092   TYP 2 DEC 0 SERC]

N050 #IDENT RD     [AXNR 1 ID S-0-0159 P=P1159  TYP 4 DEC 0 SERC]

N060 #IDENT RD     [AXNR 4 ID S-0-0092 P=P2092   TYP 2 DEC 0 SERC]

N070 #IDENT RD     [AXNR 4 ID S-0-0159 P=P2159  TYP 4 DEC 0 SERC]

; enable torque limiting

N080 #IDENT WR SYN [AXNR 1 ID S-0-0092 VAL=100 TYP 2 DEC 0 SERC]

N090 #IDENT WR SYN [AXNR 4 ID S-0-0092 VAL=100 TYP 2 DEC 0 SERC]

; disable position lag monitoring in drives

N100 #IDENT WR SYN [AXNR 1 ID S-0-0159 VAL=0   TYP 4 DEC 0 SERC]

N110 #IDENT WR SYN [AXNR 4 ID S-0-0159 VAL=0   TYP 4 DEC 0 SERC]

; start measurement run

N120 G100 X1000 Y1000 Z1000 Z2=1000 F1000

; move away from fixed stop

N130 G01 X100 F1000

; re-enable position lag monitoring

N140 #IDENT WR SYN [AXNR 1 ID S-0-0159 VAL=P1159 TYP 4 DEC 0 SERC]

N150 #IDENT WR SYN [AXNR 4 ID S-0-0159 VAL=P2159 TYP 4 DEC 0 SERC]

; disable torque limiting

N160 #IDENT WR SYN [AXNR 1 ID S-0-0092 VAL=P1092  TYP 2 DEC 0 SERC]

N170 #IDENT WR SYN [AXNR 4 ID S-0-0092 VAL=P2092  TYP 2 DEC 0 SERC]

N180 M30