Siemens SINUMERIK 828D Function Manual page 319

Restrictions
The function FOC is subject to the following restrictions:
• The change of the torque/force limitation representing itself as an acceleration limitation is only taken into
account in the traversing movement at block limits (see command ACC).
• Only FOC:
No monitoring is possible from the VDI interface to check that the active torque limit has been reached.
• If the acceleration limitation is not adapted accordingly, an increase of the drag distance during the traversing
motion occurs.
• If the acceleration limitation is not adapted accordingly, the end-of-block position is possibly reached later
than specified in:
MD36040 $MA_STANDSTILL_DELAY_TIME
.
The machine data:
MD36042 $MA_FOC_STANDSTILL_DELAY_TIME
is introduced for this and monitored in this status.
Possible application link and container axes
All axes that can be traversed in a channel, i.e. also link axes and container axes, can be traversed to fixed stop.
References:
/FB2/ Function Manual Extension Functions; Several Control Panels on Multiple NCUs, Decentralized Systems
(B3)
The status of the machine axis is kept in the case of a container switch, i.e. a clamped machine axis remains at
the stop.
If a modal torque limitation has been activated with FOCON, this is kept for the machine axis even after a container
switch.
Basic Functions
Function Manual, 09/2011, 6FC5397-0BP40-2BA0
F1: Travel to fixed stop
6.2 General functionality
319