Position Limit and Modulo Parameter: PositionLimit

Description

This function is used to define the positive and negative limits for the axis.

The value of these limits is specified as PositionUnits.

The positive or negative limit cannot be set to a value that causes the current position to be outside of the new limits. Use the SetPosition function or a movement function to change the current position to a value that is within the new limits before changing a limit.

NOTE: Position limits are not active until after the Home reference point function.

Associated Functions

The associated functions of this parameter are:

GetPositionLimit which sends a read request for the actual positive and negative limit values (parameter function PARAM_CMD_1) of the designated axis,
SetPositionLimit which sends a write request for the new positive and negative limit values (parameter function PARAM_CMD_1) of the designated axis,

These functions use, according to the language objects, the WRITE_CMD, READ_PARAM or WRITE_PARAM instructions.

NOTE: When an incremental movement is required and the target position exceeds a position limit (%MFr.m.c.55 and %MFr.m.c.57 of the real or imaginary axis), the target will take as its objective the position limit, and the axis will switch to limit fault at the end of the movement. This remains true in the case of a co-ordinated type movement.

Language objects

The table below presents the different language objects linked to the PositionLimit parameter.

Object	Name	Function code	Instruction type	Description
%MFr.m.c.55	POSITION_MAX	-	READ_PARAM	Read command
%MFr.m.c.55	POSITION_MAX	-	WRITE_PARAM	Write command
%MFr.m.c.57	POSITION_MIN	-	READ_PARAM	Read command
%MFr.m.c.57	POSITION_MIN	-	WRITE_PARAM	Write command

%MWr.m.c.26	ACTION_CMD	1505	WRITE_CMD	Read command
%MWr.m.c.26	ACTION_CMD	2505	WRITE_CMD	Write command
%MFr.m.c.22	RETURN_CMD_2	-	-	Result of the read.
%MDr.m.c.27	PARAM_CMD_1	-	-	Value to write: 1 : positive limit -1 : negative limit
%MFr.m.c.31	PARAM_CMD_3	-	-	Value to write: Position.
%MWr.m.c.19	ERROR_CMD	-	-	Error report. See (WRITE_CMD Command: Programming Errors)