# Limitations and error response

The following limitations apply both to Lifting and Advanced Lifting.

If a programming error occurs during the lifting motion, the lifting motion is executed up to the error location and the axis stops at the specified maximum lifting height (POS_LIMIT).

If the end of the program is reached during the lifting motion without a prior, explicit LIFT_END, the lifting motion is executed as if LIFT_END was programmed at the end of the program.

## Limitations during the lifting motion for both methods:

- The axis affected by lifting may not be programmed.
- Flushing the channel (#FLUSH, #FLUSH WAIT) interrupts the current lifting motion (this corresponds to implicit programming of LIFT_END followed by LIFT_START). The programmed target position of the lift axis is reached for a short time in the block in which #FLUSH was programmed.
- Channel-internal axis swapping is basically possible but the lift axis must not be affected by axis swapping. Additional path smoothing of the LIFT axis (contouring, G61/G261, G151, #SPLINE ON, #HSC ON) is not possible in the lifting range.
- During the lifting motion, tool radius compensation of the LIFT axis is not permitted, i.e. the LIFT axis may not be involved in tool radius compensation.

## Limitations during the lifting motion in addition to conventional lifting:

- Path smoothing functions are temporarily suppressed at the start and end of the lifting motion. With Advanced Lifting path smoothing methods are suppressed if the lift axis is programmed directly before LIFT_START or directly after LIFT_END.
- Axis swapping leads to the end of the lifting motion.