# Axis parameters

P-AXIS-00712 | Position lag limit to detect the fixed stop
Description | This parameter defines this limit for the position lag for the “Move to fixed stop” function after which an overshoot of the fixed stop is detected. Finally, the CNC stops the axis and discards the distance to go of the NC block.
Parameter | antr.fixed_stop.pos_lag_limit
Data type | UNS32
Data range | 0 ≤ pos_lag_limit ≤ MAX(UNS32)
Axis types | T, R
Dimension | T: 0.1µm | R: 0.0001 °
Default value | 20000
drive types. | SERCOS, CANopen
Remarks | The measurement (G100, measurement type 7) with motion to a stop is also subject to the limit in the parameter P-AXIS-00331

P-AXIS-00713 | Monitoring window for the fixed stop.
Description | This parameter defines a tolerance window for the fixed stop. If the actual position of the axis leaves the tolerance window after the fixed stop is detected, the CNC issues the error message P-ERR-70548. If this parameter is changed after the fixed stop is detected, the CNC assumes the current fixed stop position as the centre of the new tolerance window.
Parameter | antr.fixed_stop.window
Data type | UNS32
Data range | 0 ≤ pos_lag_limit ≤ MAX(UNS32)
Axis types | T, R
Dimension | T: 0.1µm | R: 0.0001 °
Default value | 0
drive types. | SERCOS, CANopen
Remarks | The monitor is disabled with the value 0.

P-AXIS-00714 | Number of position controller cycles to detect the fixed stop
Description | This parameter defines the number of position controller cycles which the position lag of the axis must overshoot the specified position lag limit P-AXIS-00712 before the fixed stop is detected. Counting start from the beginning if the limit is again undershot during this time.
Parameter | antr.fixed_stop.nbr_cycles
Data type | UNS16
Data range | 0 < nbr_cycles < MAX(UNS32)
Axis types | T, R
Dimension | T: Number of interpolation cycles | R: Number of interpolation cycles
Default value | 10
drive types. | SECOS, CANopen
Remarks | The measurement (G100, measurement type 7) with motion to a stop is also subject to the limit in the parameter P-AXIS-00332

P-AXIS-00715 | Error output on abort by reset
Description | This parameter defines whether the error message P-ERR-70549 is output if a CNC reset occurs while moving to the fixed stop.
Parameter | antr.fixed_stop.error_on_abort
Data type | BOOLEAN
Data range | 0 / 1
Axis types | T, R
Dimension | T: - | R: -
Default value | 1
drive types. | SERCOS, CANopen
Remarks |

P-AXIS-00716 | Error message if fixed stop is not detected
Description | This parameter defines whether the error message P-ERR-50886 is output while moving to the fixed stop if the fixed stop was not detected in the approach block.
Parameter | antr.fixed_stop.error_not_detected
Data type | BOOLEAN
Data range | 0 / 1
Axis types | T, R
Dimension | T: - | R: -
Default value | 1
drive types. | SERCOS, CANopen
Remarks |

P-AXIS-00717 | Warning message on reset and detected fixed stop
Description | This parameter defines whether the warning message P-ERR-70550 is output at a CNC reset if the axis is stationary at the fixed stop.
Parameter | antr.fixed_stop.warning_reset_while_detected
Data type | BOOLEAN
Data range | 0 / 1
Axis types | T, R
Dimension | T: - | R: -
Default value | 1
drive types. | SERCOS, CANopen
Remarks |

P-AXIS-00718 | Motor torque at maximum axis acceleration
Description | This parameter defines the motor torque which the drive requires to accelerate at maximum axis acceleration P-AXIS-00008. This parameter uses the controller to compensate axis acceleration to the reduced drive torque when moving to fixed stop.
Parameter | antr.fixed_stop.max_torque
Data type | REAL64
Data range | 0 / 1
Axis types | T, R
Dimension | T: Scaling dependent on P-AXIS-00724 | R: Scaling dependent on P-AXIS-00724
Default value | P-AXIS-00726 maximum torque limit if P-AXIS-00726 is specified; otherwise 0.0 (acceleration reduction disabled)
Drive types | SERCOS, CANopen
Remarks | The value 0.0 disables acceleration reduction when moving to the fixed stop.

Up to 4 drive objects can be configured for moving to the fixed stop and can be changed when the function is activated or deactivated in the drive:

Structure name | Permitted range
drive_ident[i] | 0 ≤ i ≤ 3 (Number of drive functions: 4, application-specific)

P-AXIS-00719 | CNC-internal identifier for the drive object
Description | This parameter specifies a name for the drive object. The keyword TORQUE_LIMIT is reserved for the torque limit. When moving to the fixed stop, the controller checks whether a drive object is configured with the name TORQUE_LIMIT. Otherwise, the controller issues the error message P-ERR-70541.
Parameter | antr.fixed_stop.drive_ident[i].id
Data type | STRING
Data range | Maximum of 29 characters
Axis types | T, R
Dimension | T: ---- | R: ----
Default value | *
Drive types | SERCOS, CANopen
Remarks | Example: Defining the torque limit for a SERCOS drive: `antr.fixed_stop.drive_ident[0].id TORQUE_LIMIT` `antr.fixed_stop.drive_ident[0].wr_ident S_0_0092` * Note: The default value of variables is a blank string.

P-AXIS-00720 | Type of communication with drive controller
Description | This parameter defines the type of communication by which the function in the drive is addressed. The value can be transferred both in the cyclic process data and in the service channel with SERCOS or SDO communication with CANopen.
Parameter | antr.fixed_stop.drive_ident[i].commu
Data type | STRING
Data range | CYCLIC: The drive object is switched by a telegram element that is configured in the cyclic drive telegram. The name of the telegram element must then be parameterised in the P-AXIS-00721 parameter. The telegram element must be configured in the cyclic process data.

ACYCLIC: The drive function is activated by writing a drive parameter via the parameter channel. The name of the telegram element must then be parameterised in the P-AXIS-00721 parameter.

IGNORE: No value is exchanged with the drive.

Axis types | T, R
Dimension | T: ---- | R: ----
Default value | ACYCLIC
drive types. | SERCOS, CANopen
Remarks |

P-AXIS-00721 | Name of the drive object in the driver amplifier
Description | This parameter defines which drive parameter or which telegram element is to be changed with Moving to fixed stop.
Parameter | antr.fixed_stop.drive_ident[i].wr_ident
Data type | STRING
Data range | Maximum of 29 characters
Axis types | T, R
Dimension | T: ---- | R: ----
Default value | *
Drive types | SERCOS, CANopen
Remarks | Example: Defining the torque limit for a SERCOS drive: `antr.fixed_stop.drive_ident[0].id TORQUE_LIMIT` `antr.fixed_stop.drive_ident[0]wr_ident S_0_0092` * Note: The default value of variables is a blank string.

P-AXIS-00722 | Data type of the data to be transmitted
Description | This parameter defines the data type of the drive parameter or telegram element.
Parameter | antr.fixed_stop.drive_ident[i].data_type
Data type | STRING
Data range | SGN16: Signed 16 bit integer SGN32: Signed 32 bit integer UNS16: Unsigned 16-bit integer UNS32: Unsigned 32-bit integer BITARRAY_16: Bit array 16 bit

BITARRAY_32: Bit array 32 bit

Axis types | T, R
Dimension | T: ---- | R: ----
Default value | SGN16
Drive types | SERCOS, CANopen
Remarks |

P-AXIS-00723 | Default value of data element after controller start-up
Description | When cyclic communication is used (see P-AXIS-00720), this parameter defines the value of the telegram element after controller start-up. This parameter is also used if reading the current value at the start of motion to fixed stop is not required (see P-AXIS-00730). At the end of the move to fixed stop function, the controller writes this value back to the drive.
Parameter | antr.fixed_stop.drive_ident[i].startup_value
Data type | REAL64
Data range | Dependent on the data type P-AXIS-00722 of the drive object SGN16: MIN(SGN16) ≤ startup_value ≤ MAX(SGN16) SGN32: MIN(SGN32) ≤ startup_value ≤ MAX(SGN32) UNS16: MIN(UNS16) ≤ startup_value ≤ MAX(UNS16) SGN32: MIN(SGN32) ≤ startup_value ≤ MAX(SGN32)

Axis types | T, R
Dimension | T: ---- | R: ----
Default value | 0
drive types. | SERCOS, CANopen
Remarks | This parameter must be assigned if the data item is transferred cyclically, i.e. the parameter P-AXIS-00720 has the value CYCLIC or reading the active parameter value is suppressed, i.e. P-AXIS-00730 has the value 1.

P-AXIS-00724 | Scaling type of the data element
Description | This parameter scales the transferred value before it is transferred to the drive or after the value was read by the drive. This parameter sets the unit of the data item in the NC program independently of the drive. The scaling type influences the values of the following parameters:

- Torque at maximum acceleration P-AXIS-00718
- Default value = P-AXIS-00723
- Maximum permissible value P-AXIS-00725
- Minimum permissible value P-AXIS-00726
- Drive value while moving to fixed stop P-AXIS-00729

Parameter | antr.fixed_stop.drive_ident[i].scaling_type
Data type | STRING
Data range | UNSCALED. | The value is not scaled, i.e. the value in the NC program directly corresponds to the value in the drive
LINEAR. | The value is weighted by a linear scaling factor (see P-AXIS-00728)
TORQUE_DRIVE_SIDE. | The programmed value is a torque value related to the motor shaft and is scaled to the drive torque format with the parameters P-AXIS-00325, P-AXIS-00326 and P-AXIS-00392. The scaling factor does not change during gear change. The conversion factor is:
Axis types | T, R
Dimension | T: ---- | R: ----
Default value | UNSCALED
drive types. | SERCOS, CANopen
Remarks | Example: The torque limit in the SERCOS drive is specified in per mil of the maximum motor torque. However, the torque should be specified in percent in the NC program: `antr.fixed_stop.drive_ident[0].id TORQUE_LIMIT` `antr.fixed_stop.drive_ident[0].wr_ident S_0_0092`

`antr.fixed_stop.drive_ident[0].scaling_type LINEAR`

`antr.fixed_stop.drive_ident[0].scaling_factor 10`

P-AXIS-00725 | Maximum permissible output value
Description | This parameter defines the maximum permissible output value. If the value specified in the configuration lists or in the NC program overshoots the set limit, it is automatically limited to the maximum value. No error message is then output. If P-AXIS-00725 is configured, P-AXIS-00726 must be less than this parameter, otherwise the warning P-ERR-70385 is output and the values are swapped.

No value limit takes place by default.

Irrespective of this parameter setting, a value range check always takes place with the specified data type P-AXIS-00722. If an overflow is detected, the controller outputs the error message P-ERR-70384.

Parameter | antr.fixed_stop.drive_ident[i].max_limit
Data type | REAL64
Data range | Dependent on P-AXIS-00722 and P-AXIS-00724
Axis types | T, R
Dimension | T: ---- | R: ----
Default value | 1.000000e+199
Drive types | SERCOS, CANopen
Remarks | By default no limit is active; the limit is disabled at a value of 1.000000e+199.

P-AXIS-00726 | Minimum permissible output value
Description | This parameter defines the minimum permissible output value. If the value specified in the configuration lists or in the NC program undershoots the set limit, it is automatically limited to the minimum value. No error message is then output.

If P-AXIS-00726 is configured, the parameter value must be greater than P-AXIS-00725, otherwise the warning P-ERR-70385 is output and the values are swapped.

No value limit takes place by default.

Irrespective of this parameter setting, a value range check always takes place with the specified data type P-AXIS-00722. If an overflow is detected, the controller outputs the error message P-ERR-70384.

Parameter | antr.fixed_stop.drive_ident[i].min_limit
Data type | REAL64
Data range | Dependent on P-AXIS-00722 and P-AXIS-00724
Axis types | T, R
Dimension | T: ---- | R: ----
Default value | 1.000000e+199
Drive types | SERCOS, CANopen
Remarks | By default no limit is active; the limit is disabled at a value of 1.000000e+199.

P-AXIS-00727 | Writing/reading drive values by bit mask
Description | This parameter defines the bit mask to be used to read and write drive values bitwise. If the writing value (default value P-AXIS-00726 or the value when motion to the fixed stop is active P-AXIS-00729) is greater than zero, the bit mask is set; when the value is zero, the bits in the bit mask are deleted from the value transferred to the drive.

When read, the value of a bit is returned if all the bits in the bit mask are set in the read drive object. Otherwise the return value is 0.

This parameter is only used if the data type configured in P-AXIS-00722 has either the value 'BITARRAY_16' or 'BITARRAY_32'.

The value of the bit mask must fit in the data type of the drive object P-AXIS-00722, otherwise the controller issues the error message P-ERR-70403.

Parameter | antr.fixed_stop.drive_ident[i].mask
Data type | STRING
Data range | Dependent on P-AXIS-00722: BITARRAY_16: Bit mask 16 Bit - 0 ... MAX(UNS16) BITARRAY_32: Bit mask 32 Bit - 0 ... MAX(UNS32)
Axis types | T, R
Dimension | T: ---- | R: ----
Default value | NOT_USED
Drive types | SERCOS, CANopen
Remarks |

P-AXIS-00728 | Scaling factor
Description | This parameter executes a scaling for reading and writing the drive object. This parameter only acts if the scaling type P-AXIS-00724 is set to 'LINEAR'.
Parameter | antr.fixed_stop.drive_ident[i].scaling_factor
Data type | REAL64
Data range | Unequal to 0
Axis types | T, R
Dimension | T: - | R: -
Default value | 1.0
drive types. | SERCOS, CANopen
Remarks | Example: The torque limit in the SERCOS drive is specified in per mil of the maximum motor torque. However, the torque should be specified in percent in the NC program: antr.fixed_stop.drive_ident[0].id TORQUE_LIMIT antr.fixed_stop.drive_ident[0].wr_ident S_0_0092

antr.fixed_stop.drive_ident[0].scaling_type LINEAR

antr.fixed_stop.drive_ident[0].scaling_factor 10

P-AXIS-00729 | Value of data element during Move to fixed stop
Description | This parameter specifies the value which the drive object must assume while moving to fixed stop. The specified value may also be scaled before output to the drive (see P-AXIS-00728).
Parameter | antr.fixed_stop.drive_ident[i].active_value
Data type | REAL64
Data range | Unequal to 0
Axis types | T, R
Dimension | T: - , dependent on P-AXIS-00728 | R: - , dependent on P-AXIS-00728
Default value | 0.0
drive types. | SERCOS, CANopen
Remarks | Example: When moving to fixed stop, the torque should be limited to 10% of maximum torque: `antr.fixed_stop.drive_ident[0].id TORQUE_LIMIT` `antr.fixed_stop.drive_ident[0].wr_ident S_0_0092` `antr.fixed_stop.drive_ident[0].scaling_type LINEAR`

`antr.fixed_stop.drive_ident[0].scaling_factor 10`

`antr.fixed_stop.drive_ident[0].active_value 10`

P-AXIS-00730 | Use of default value |
Description | Normally, when moving to fixed stop is activated, the value of the drive object is read out before the object is changed by activating the function. After the function ends, the original settings are restored. If this parameter is set to 1, the start value P-AXIS-00723 is transferred to the drive instead of at the end of motion to fixed stop. The read process on activation can then be omitted.
Parameter | antr.fixed_stop.drive_ident[i].use_startup_value
Data type | BOOLEAN
Data range | 0 / 1
Axis types | T, R
Dimension | T: - | R: -
Default value | 0
drive types. | SERCOS, CANopen
Remarks | If the object is communicated in the cyclic process data (P-AXIS-00720 = 'CYCLIC'), it is advisable to set this parameter to the value 1 since the start value in P-AXIS-00723 is already transferred cyclically to the drive.

P-AXIS-00731 | Name of the drive object to be read in the driver amplifier
Description | If the name of the drive object is different for read and write access, the name of the drive object to be read can also be specified here. If no value is specified here, the controller uses the name of the object in P-AXIS-00721 for read and write.
Parameter | antr.fixed_stop.drive_ident[i].rd_ident
Data type | STRING
Data range | Maximum of 29 characters
Axis types | T, R
Dimension | T: - | R: -
Default value | *
Drive types | SERCOS, CANopen
Remarks | * Note: The default value of variables is a blank string.

P-AXIS-00746 | Use default parameters for the drive type
Description | By default the drive objects for moving to fixed stop are preconfigured for each drive type when the controller starts and this overwrites any assignment made in the default axis parameter list. All parameters required to change the drive objects are affected by pre-initialisation, i.e. the parameters assigned in the structure antr.fixed_stop.drive_ident[i].*.

However, it a parameterisation is used from the default list, this parameter can be set to the value 0. In this case, no default initialisation of the drive object takes place.

Parameter | antr.fixed_stop.drive_ident[i].default
Data type | BOOLEAN
Data range | 0 / 1
Axis types | T, R
Dimension | T: - | R: -
Default value | 1
Drive types | SERCOS, CANopen
Remarks |

P-AXIS-00762 | Quick stop after detecting the fixed stop.
Description | This parameter is used to force an immediate stop when the fixed stop is detected. Normally, after the fixed stop is detected, the axes are stopped at the feedhold acceleration P-AXIS-00024 set for this axis. For time reasons, an immediate stop can be forced by the axis parameter "quick_stop_after_detection".

The condition for this is that all axes involved in the approach movement detected a stop as, in this case, all moving axes are already at a standstill due to the stop. If other axes are also involved in the approach movement, the CNC therefore stops the axes at their normal deceleration rates P-AXIS-00024 despite the fact that the "quick_stop_after_detection" parameter is set.

Parameter | antr.fixed_stop.quick_stop_after_detection
Data type | BOOLEAN
Data range | 0 / 1
Axis types | T, R
Dimension | T: ---- | R: ----
Default value | 0
Drive types | SERCOS, CANopen
Remarks |

P-AXIS-00763 | Error reaction for missing drive releases.
Description | If the drive releases are reset after the fixed stop is detected, the CNC generates the error message P-ERR-70546 and aborts the function "Move to fixed stop". This behaviour can be changed by the parameter "error_missing_drive_releases". In any case, missing releases result in the abortion of the function "Move to fixed stop".
Parameter | antr.fixed_stop.error_missing_drive_releases
Data type | STRING
Data range | ERROR: Output of error message P-ERR-70546 and the Move to fixed stop function is aborted WARNING: Output of warning P-ERR-70546 and the Move to fixed stop function is aborted NONE: Abort the Move to fixed stop function
Axis types | T, R
Dimension | T: ---- | R: ----
Default value | ERROR
Drive types | SERCOS, CANopen
Remarks | Check the motion range of the axis before you set each release again. The stop obstacle must be removed.