# Moving to fixed stop (FIXED_STOP)

For more information please refer to the functional description "Moving to fixed stop” [FCT-M8]

Syntax:
<axis_name> [ FIXED_STOP [ ON | OFF ] [ TORQUE_LIMIT=..] [POS_LAG_LIMIT=..] [CYCLES=..] [WINDOW=..] [START=..] [END=..] [ERR_NOT_DETECTED=..] { \ } ]

<axis_name> | Name of the axis to be used with the “Move to fixed stop” function.
FIXED_STOP | Identifier for position lag during “Move to fixed stop“. Must always be programmed as the first keyword.
ON | Activate the “Move to fixed stop” function for this axis. Motion information must also be specified for the axis.
OFF | Deactivate the “Move to fixed stop” function. In addition a motion should be programmed for the axis to move away from the fixed stop.
TORQUE_LIMIT=.. | Specifying the torque limit with “Move to fixed stop”. Scaling is determined by parameterising the “Move to fixed stop” function from the axis parameters (see P-AXIS-00724). Normally this is given as a percentage [%] of the drive nominal torque.
If no torque is specified for the axis in the NC program, the default value in the axis parameter P-AXIS-00729 is used for the torque limit.

POS_LAG_LIMIT=.. | Limit for position lag in [mm, inch, °]. If this limit is overshot, the CNC reverts to the “Fixed stop reached” state after the LR cycles specified in CYCLES. If no position lag limit is specified for the axis in the NC program, the default value in the axis parameter P-AXIS-00712 is used.
CYCLES=.. | Number of position controller cycles in which the position lag must be above the specified POS_LAG_LIMIT limit before the controller reverts to the “Fixed stop reached” state. If the number of position controller cycles is not specified for the axis in the NC program, the default value from the axis parameter P-AXIS-00714 is used.
WINDOW=.. | Tolerance window for fixed stop position in [mm, inch, °]. After the fixed stop is reached, the controller checks whether the actual position of the drive leaves the specified tolerance window to detect a breakaway of the fixed stop. If no tolerance window is specified for the axis in the NC program, the default value value in the axis parameter P-AXIS-00713 is used.
The monitor is disabled with a value of 0.

START=.. | This parameter can delay the monitoring function for when the fixed stop is reached by one percent [%] referred to the path distance in order to prevent the incorrect detection of a fixed stop due to friction etc. when the axis starts off. If this parameter is not specified in the NC program, the start of the motion is always monitored (START = 0%).
END=.. | This parameter can prematurely end the monitoring function for when the fixed stop is reached by one percent [%] referred to the path distance in order to prevent the incorrect detection of a fixed stop when the axis is decelerated on approaching the target point.
If this parameter is not specified in the NC program, monitoring always takes place up to the target point of the motion block (END = 100%).

ERR_NOT_DETECTED=.. | This parameter suppresses the output of error message P-ERR-50886 if the fixed stop is not detected in the approach motion. This permits the execution of simple measurement processes, e.g. with “Move to fixed stop”. 0: Output error message P-ERR-50886.

1: Do not output error message P-ERR-50886.

\ | Separator ("backslash") for clear programming of the command over multiple lines.