A3: Axis Monitoring, Protection Zones
2.2 Axis monitoring
Basic Functions
Function Manual, 09/2011, 6FC5397-0BP40-2BA0
83
2.2.2.3 Zero speed monitoring
Function
At the end of a positioning operation:
• Set velocity = 0 AND
• DB31, ... DBX64.6/64.7 (motion command minus/plus) = 0
checks the zero-speed monitoring to ensure that the following error of every participating machine axis is smaller
than the standstill tolerance during the delay time.
MD36040 $MA_STANDSTILL_DELAY_TIME (Zero-speed monitoring delay time)
MD36030 $MA_STANDSTILL_POS_TOL (standstill tolerance)
After reaching the required exact-stop state, the positioning operation is completed:
DB31, ... DBX60.6/60.7 (position reached with exact stop coarse/fine) = 1
The position-monitoring function is deactivated and is replaced by the zero-speed monitoring.
Zero-speed monitoring monitors the adherence to the standstill tolerance. If no new travel request is received,
the machine axis must not depart from the standstill tolerance.
Effectivity
The zero-speed monitoring only operates with active position control and the following axis types:
• Linear axes
• Rotary axes
• Position-controlled spindles
Fault
If the delay time and/or the standstill tolerance is exceeded, the following alarm appears:
25040 "Axis <Axis identifier> Zero-speed monitoring"
The affected axis is stopped via the configured braking ramp in follow-up mode:
MD36610 $MA_AX_EMERGENCY_STOP_TIME
(Maximum time for braking ramp when an error occurs)
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