# Measurement run to fixed stop

## Detection of fixed stop

When measuring by motion to a fixed stop, the measuring event used is the detection of a mechanical stop against which the measuring axis moves.

Several criteria, also combined, can be used to detect the fixed stop:

- Overshooting a predefined position lag during the measuring movement.
- Undershooting a minimum actual speed of the axis during the measurement movement.

## Default setting

When a measurement run is executed with Moving to a fixed stop, torque limitation must be activated in all drives involved and any drive-based position lag error monitor must be disabled.

## Measurement on the path

The measurement run ends as soon as the fixed stop is detected in one of the axes involved in the measurement run.

## Process

When measuring by Moving to a fixed stop, an axis movement is automatically generated after the fixed stop is detected, during which the axes involved in the measurement run are moved to the latched measuring position in each case. This relieves mechanical stresses accumulated when the axis is pressed against the fixed stop.

## Measurement with gantry axes

With gantry systems (soft and hard gantry), the master axis is always used for measuring. During the measurement run, the slave axes also move. For this reason, torque limitation must also be activated and position lag monitoring disabled for motions to a fixed stop in slave axis drives.

## Channel parameters

The following entries must be assigned in the channel parameter list:

P-CHAN-00057 | Measurement type 7 for measurement by moving to a fixed stop: messtyp 7
P-CHAN-00266 | Error response with measurement type 7 meas_fixed_stop_no_error e.g. with value 1

## Select measurement type in the NC program

Alternatively, the measurement type can be changed in the NC program by the command #MEAS MODE[7].

## Parameterisation of fixed stop detection

Several criteria, also combined, can be used to detect the fixed stop:

- Overshooting a predefined position lag during the measuring movement.
- Undershooting a minimum actual speed of the axis during the measurement movement.

The active criteria in each case must be fulfilled for a certain period before the fixed stop is considered to be detected.

In addition, a minimum path distance can be specified until fixed stop detection is activated in the measurement motion block. This can be specified as an absolute value or as a percentage based on the length of the measurement motion block.

If the minimum path distance is specified both as an absolute value and as a percentage, the smaller of the two values is used to activate fixed stop detection.

The minimum value of all axes is used for activation in the case of a measurement run with several axes.

By default, fixed stop detection is activated immediately at the beginning of the block.

## Axis parameters

The following entries must be assigned in the axis parameter lists:

P-AXIS-00516 (Previous P-AXIS-00330) | Select the Fixed Stop probing signal source: kenngr.measure.signal FIXED_STOP
P-AXIS-00774 (Previous P-AXIS-00331) | Position lag limit for fixed stop detection with Measuring travel on fixed stop
P-AXIS-00775 (Previous P-AXIS-00332) | Minimum time for fixed stop detection with Measuring travel to fixed stop
P-AXIS-00776 | Minimum path to activate fixed stop detection with Measuring travel to fixed stop
ID 51026 | Minimum distance to activate fixed stop detection with Measuring travel to fixed stop, specified in per mil of block length
P-AXIS-00778 | Maximum permitted position change during fixed stop detection with Measuring travel to fixed stop

## Sequence of measurement run

Measurement by Moving to a fixed stop can be represented by the example of SERCOS drives as shown in the process below .

## Additional information

- Example for SERVOS drive
- Example for CANopen drive