# Text for fixed stop detected

In the test program below the result of the “Move to fixed stop” function is forwarded to the PLC by external variables:

N010 G0 X0 Y0 F1000 V.E.FS_DETECTED = FALSE

(* Parameterisation *)

X[FIXED_STOP TORQUE_LIMIT = 5 ERR_NOT_DETECTED = 0]

(* Approach motion *)

N020 G01 X100 X[FIXED_STOP ON TORQUE_LIMIT = 10]

N030 $IF V.RTA.FIXED_STOP.DETECTED.X = TRUE

N040 V.E.FS_DETECTED = TRUE

N050 V.E.FS_POSITION = V.RTA.FIXED_STOP.ACS.POS.X

N050 $ENDIF

(* Withdrawal motion away from the fixed stop *)

N040 G01 X0 X[FIXED_STOP OFF]

N050 M30