Difference between revisions of "MC-Basic:axis.TORQUEERRORSTOPTYPE"
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* [[Axystems:MC-Basic:axis.TORQUEFACTOR|axis.TORQUEFACTOR]] | * [[Axystems:MC-Basic:axis.TORQUEFACTOR|axis.TORQUEFACTOR]] | ||
* [[Axystems:MC-Basic:axis.TORQUEADDCOMMAND|axis.TORQUEADDCOMMAND]] | * [[Axystems:MC-Basic:axis.TORQUEADDCOMMAND|axis.TORQUEADDCOMMAND]] | ||
| − | * [[Axystems:MC-Basic:axis. | + | * [[Axystems:MC-Basic:axis.TorqueMax|axis.TORQUEMAX]] |
* [[Axystems:MC-Basic:axis.TORQUEERRORFILTER|axis.TORQUEERRORFILTER]] | * [[Axystems:MC-Basic:axis.TORQUEERRORFILTER|axis.TORQUEERRORFILTER]] | ||
* [[Axystems:MC-Basic:axis.TORQUEERRORMAX|axis.TORQUEERRORMAX]] | * [[Axystems:MC-Basic:axis.TORQUEERRORMAX|axis.TORQUEERRORMAX]] | ||
Revision as of 08:10, 22 August 2012
Defines the torque-error collision procedure. If the TE > TEMAX stopping of the axis is done according to:
1 (IMMEDIATE): Using maximum deceleration.
2 (ONPATH): Using maximum deceleration, on the path of the motion. For a single axis, the IMMEDIATE and ONPATH stop types are the same.
3 (ENDMOTION): No Stop profile immediately disabling the axis.
4 (ABORT): Same as ONPATH.
5 (DecStopOnPath ) - the stopping profile uses the DecStop value.
In cases of TorqueErrorStopType IMMEDIATE(1), ONPATH(2), ABORT(4) and DecStopOnPath(5) axis is disabled only if the condition TE > TEMAX is true also after the end of stopping profile.
In case of TorqueErrorStopType equals ENDOFMOTION(3) axis is disabled always and immediately when the condition TE > TEMAX is detected.
In both cases disable is done according values of TorqueErrorDisableType.
Short form
<axis>.TorqueErrorStopType
Syntax
?<axis>. TorqueErrorStopType
Availability
AMCS 4.5.x
Type
Integer
Range
0 to 5
Default
3 (ENDMOTION)
Scope
Configuration, Task or Terminal
Limitations
Read/Write only, Modal Only
Examples
?A1.TorqueErrroStopType