Difference between revisions of "MC-Basic:axis.TORQUEERRORSTOPTYPE"
m (corrected see also) |
m (category Motion Dynamics) |
||
| Line 10: | Line 10: | ||
|DESCRIPTION= | |DESCRIPTION= | ||
| − | Defines the torque-error collision procedure. If the TE > TEMAX stopping of the axis is done according to: | + | Defines the torque-error collision procedure. |
| + | If the TE > TEMAX stopping of the axis is done according to: | ||
1 (IMMEDIATE): Using maximum deceleration. | 1 (IMMEDIATE): Using maximum deceleration. | ||
| Line 21: | Line 22: | ||
5 (DecStopOnPath ) - the stopping profile uses the DecStop value. | 5 (DecStopOnPath ) - the stopping profile uses the DecStop value. | ||
| − | |||
| Line 27: | Line 27: | ||
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. | ||
| − | |||
| − | |||
In both cases disable is done according values of TorqueErrorDisableType. | In both cases disable is done according values of TorqueErrorDisableType. | ||
| − | |||
| − | |||
| − | |||
| − | |||
|TYPE= | |TYPE= | ||
| Line 58: | Line 52: | ||
|SEE ALSO= | |SEE ALSO= | ||
| + | * [[Axystems:Motion Dynamics]] | ||
* [[Axystems:MC-Basic:axis.TORQUEERRORDISABLETYPE|axis.TORQUEERRORDISABLETYPE]] | * [[Axystems:MC-Basic:axis.TORQUEERRORDISABLETYPE|axis.TORQUEERRORDISABLETYPE]] | ||
* [[Axystems:MC-Basic:axis.TORQUEFEEDBACK|axis.TORQUEFEEDBACK]] | * [[Axystems:MC-Basic:axis.TORQUEFEEDBACK|axis.TORQUEFEEDBACK]] | ||
| Line 69: | Line 64: | ||
}} | }} | ||
| + | |||
| + | |||
| + | [[Category:Axystems:Motion Dynamics|TORQUEERRORSTOPTYPE]] | ||
Revision as of 13:13, 23 October 2011
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