F1: Travel to fixed stop
6.2 General functionality
Basic Functions
Function Manual, 09/2011, 6FC5397-0BP40-2BA0
317
6.2.6 Travel with limited torque/force FOC (option for 828D)
Function
For applications in which torque or force are to be changed dynamically depending on the travel or on the time or
on other parameters (e.g. pressing), the following functionalityFOC (Force Control) is provided.
Force/travel or force/time profiles are thus possible using the "Interpolation cycle" resolution.
The function allows torque/force to be modified at any time using synchronized actions.
The function can be activated modally or blockrelated.
Modal activation (FOCON/FOCOF)
The activation of the function after POWER_ON and RESET is determined by the machine data:
MD37080 $MA_FOC_ACTIVATION_MODE
FOCON: Activation of the modally effective torque/force limitation
FOCOF: Disable torque/force limitation
The modal activation acts beyond the program end.
If already programmed, it is effective with FXST set torque/force.
FXST can be programmed irrespectively of FOCON; it comes into effect, however, only after the function has been
activated.
Programming
The programming of the axis is carried out in square brackets.
The following are permissible:
• Geometry axis identifiers
• Channel axis identifiers
• Machine axis identifiers
Table 6-1 Controlling the initial setting of the modal limitation of torque/force
After Value Effect
Bit 0
Power On
0
FOCOF
1
FOCON
Bit 1
RESET
0
FOCOF
1
FOCON
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