Siemens SINUMERIK 840D sl Function Manual page 357

FOC fully automatically in REPOS
The FOC-REPOS function behaves analogously to the FXS-REPOS function.
Note
A continuously changing torque characteristic cannot be implemented with FOC-REPOS.
Example:
A program moves axis X from 0 to 100 and activates FOC every 20 millimeters for 10
millimeters at a time. This torque characteristic is generated with nonmodal FOC and
therefore cannot be traced by FOC-REPOS. FOC-REPOS will traverse axis X from 0 to 100
with or without FOC.
For programming examples of FXS "travel to fixed stop," please see:
References:
/FB1/ Function Manual Basic Functions; Mode Group, Channel, Program Operation (K1);
Section: Program test
2.1.4 Miscellaneous
Setting data
The following axisspecific setting data are provided for the "Travel to fixed stop" function:
SD43500 $SA_FIXED_STOP_SWITCH (selection of travel to fixed stop)
SD43510 $SA_FIXED_STOP_TORQUE (clamping torque for travel to fixed stop)
SD43520 $SA_FIXED_STOP_WINDOW (fixed stop monitoring window)
The setting data are effective only when the axis has reached the fixed stop.
The status of the setting data is displayed via the operator panel in the "Parameters" area.
The commands FXS[x], FXST[x] and FXSW[x] effect a blocksynchronous change in
these setting data.
If FXST[x] and FXSW[x] are not programmed, then, if "Travel to fixed stop" is activated, the
defaults from the machine data:
MD37010 $MA_FIXED_STOP_TORQUE_DEF
and
MD37020 $MA_FIXED_STOP_WINDOW_DEF
are accepted into the appropriate setting data.
The setting data for clamping torque and fixed stop monitoring window can be changed by
the operator and via the PLC. It is thus possible to specify a higher or lower clamping torque
or a modified fixed stop monitoring window after the fixed stop has been reached.
Basic logic functions: Travel to fixed stop (F1)
Function Manual, 11/2006, 6FC5397-0BP10-2BA0
Detailed Description
2.1 General functionality
21