Difference between revisions of "MC-Basic:axis.TORQUEERRORSTOPTYPE"
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|DESCRIPTION= | |DESCRIPTION= | ||
Defines the torque-error collision procedure. | Defines the torque-error collision procedure. | ||
| − | + | TE > TEMAX stopping of the axis is done according to: | |
| − | 1 (IMMEDIATE) | + | 1 (IMMEDIATE) – Immediate stop, using maximum deceleration. |
| − | 2 (ONPATH) | + | 2 (ONPATH) – Immediate stop, using maximum deceleration, on the path of the motion. This is useful for stopping group motion so that all axes remain on the original path of travel during the stop. For a single axis, the IMMEDIATE and ONPATH types of stop are the same. |
| − | 3 (ENDMOTION) | + | 3 (ENDMOTION) – No Stop profile. immediately disabling the axis. |
| − | 4 (ABORT) | + | 4 (ABORT) – Same as ONPATH. |
| − | 5 (DecStopOnPath ) | + | 5 (DecStopOnPath) – The stopping profile uses the DecStop value. |
| − | In cases of TorqueErrorStopType IMMEDIATE(1), ONPATH(2), ABORT(4) and DecStopOnPath(5) axis is | + | <font color="red"> ** axis.STOPTYPE** |
| + | 3 (ENDMOTION) – Stop at the end of the current motion command. | ||
| + | 4 (ABORT) – Stop the current motion immediately and proceed to start next motion. Only the accepted motion commands are stopped. The commands following this type of stop will be executed regularly. | ||
| + | 5 (DecStopOnPath) – The stopping procedure is started immediately according to DecStop value. This parameter is modal so its value must be updated before executing the motion command. | ||
| + | </font> | ||
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| + | |||
| + | |||
| + | 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 case of TorqueErrorStopType equals ENDOFMOTION(3) axis is disabled always and immediately when the condition TE > TEMAX is detected. | ||
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|LIMITATIONS= | |LIMITATIONS= | ||
| − | Read/Write only | + | *Read/Write |
| + | *Modal only | ||
|EXAMPLE= | |EXAMPLE= | ||
Revision as of 12:37, 19 March 2014
Defines the torque-error collision procedure. TE > TEMAX stopping of the axis is done according to:
1 (IMMEDIATE) – Immediate stop, using maximum deceleration.
2 (ONPATH) – Immediate stop, using maximum deceleration, on the path of the motion. This is useful for stopping group motion so that all axes remain on the original path of travel during the stop. For a single axis, the IMMEDIATE and ONPATH types of stop 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.
** axis.STOPTYPE**
3 (ENDMOTION) – Stop at the end of the current motion command.
4 (ABORT) – Stop the current motion immediately and proceed to start next motion. Only the accepted motion commands are stopped. The commands following this type of stop will be executed regularly.
5 (DecStopOnPath) – The stopping procedure is started immediately according to DecStop value. This parameter is modal so its value must be updated before executing the motion command.
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
- Modal only
Examples
?A1.TorqueErrroStopType