Monitoring axis positions
Monitor lower position limit | |
Description | The control unit is used to specify the lower limit of a position range which the axis should not exceed. |
Data type | MC_CONTROL_SGN32_UNIT, see description of Control unit |
Access | PLC writes command_w and reads request_r and state_r |
ST path | gpAx[axis_idx]^.ipo_mc_control.dyn_pos_limit_low |
Special features | Available as of V3.01.3054.05 |
Commanded, requested and return values | |
ST element | .command_w .request_r (currently not supported) .state_r |
Special features | Commanded and return values both have the same data type but different significances. |
Data type | DINT |
Unit | .command_w: 0.1 µm or 10-4 ° .state_r: no unit |
Value range | .command_w: [DINT_MIN, DINT_MAX] This is a position value and describes the lower limit of the position range which the axis should not exceed. .state_r: See the Monitor states of position limit table with descriptions. This is the state of the monitoring process for the lower limit. |
Redirection | |
ST element | |
Monitor upper axis position limit | |
Description | The control unit is used to set the upper limit of a position range which the axis should not exceed. |
Data type | MC_CONTROL_SGN32_UNIT, see description of Control unit |
Access | PLC writes command_w and reads request_r and state_r |
ST path | gpAx[axis_idx]^.ipo_mc_control.dyn_pos_limit_high |
Special features | Available as of V3.01.3054.05 |
Commanded, requested and return values | |
ST element | .command_w .request_r (not supported) .state_r |
Special features | Commanded and return values both have the same data type but different significances. |
Data type | DINT |
Unit | .command_w: 0.1 µm or 10-4 ° .state_r: no unit |
Value range | .command_w: [DINT_MIN, DINT_MAX] This is a position value and describes the upper limit of the position range which the axis should not exceed. .state_r: See Table 2‑1 with descriptions. This is the state of the monitoring process for the upper limit. |
Redirection | |
ST element | |
Values for the monitoring state of a position limit
Global constant | Value | Description |
HLI_DYNPL_STATE_INACTIVE | 0 | The position limit is not active. |
HLI_DYNPL_STATE_ACTIVATION | 1 | This is the transition state after commanding the control unit until monitoring of axis position to the limit is activated. |
HLI_DYNPL_STATE_ACTIVE | 2 | The position limit is active and the axis position limit is monitored. |
HLI_DYNPL_STATE_ACTIVE_BRAKING | 3 | A braking operation was initiated down to standstill to prevent the axis from exceeding the position limit. |
HLI_DYNPL_STATE_ACTIVE_BRAKE | 4 | Deceleration process to maintain the position limit completed, axis is at standstill. |