FUNCTION_BLOCK SMC_SetSoftwareLimits
Sets the position limits and the corresponding error reaction of an axis. If the axis is used in the context of coordinated motion, the corresponding axis group has to be reenabled in order to take into account the new limits for coordinated motion computations.
Note
The effective error deceleration is the maximum of the configured maximum deceleration of the axis, the value of SWL_Error_Deceleration, and the value derived from SWL_Error_MaxDistance and the current velocity. (SWL_Error_MaxDistance is only taken into account if the value is positive.)
InOut:
|
Scope |
Name |
Type |
Comment |
|
Inout |
Axis |
Axis to change |
|
|
Input |
bExecute |
BOOL |
Rising edge: Rising edge: Starts the execution of the function block. Applies the Changes. |
|
SWL_Activated |
BOOL |
TRUE: Activates the position limits. |
|
|
SWL_Positive |
LREAL |
The positive limit switch ([u]) |
|
|
SWL_Negative |
LREAL |
The negative limit switch ([u]) |
|
|
SWL_Error_Decelerate |
BOOL |
Deprecated, the axis decelerates always if a deceleration is configured (`SWL_Error_Deceleration, SWL_Error_MaxDistance) or in the maximum deceleration (see SMC_ChangeDynamicLimits.fMaxDeceleration or drive configuration). |
|
|
SWL_Error_Deceleration |
LREAL |
The (positive) deceleration in [u/s²] |
|
|
SWL_Error_MaxDistance |
LREAL |
The maximum braking distance in [u], only applied if positive. |
|
|
Output |
bDone |
BOOL |
TRUE: Success |
|
bError |
BOOL |
TRUE: Error has occured within the function block. |
|
|
ErrorID |
SMC_ERROR |
Error identification. |
