Difference between revisions of "MC-Basic:axis.POSITIONMIN"
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{{MC-Basic | {{MC-Basic | ||
|SHORT FORM= | |SHORT FORM= | ||
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|DESCRIPTION= | |DESCRIPTION= | ||
This property is a software limit defining the lower limit of the axis. Motion commands with target positions below this limit are not allowed. If an axis has passed the limit, motion commands to move it away from the limit are allowed. The lower position limit is enabled or disabled using the POSITIONMINENABLE property. | This property is a software limit defining the lower limit of the axis. Motion commands with target positions below this limit are not allowed. If an axis has passed the limit, motion commands to move it away from the limit are allowed. The lower position limit is enabled or disabled using the POSITIONMINENABLE property. | ||
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| + | {{Note/Important| In groups/robots there exist a '''additional''' PMIN value to every joint which differs from the axis value. For example A1.PMIN ≠ J1.PMIN. Irrespectively if the group coupling is turned on or off.}} | ||
|TYPE= | |TYPE= | ||
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|SEE ALSO= | |SEE ALSO= | ||
* [[MC-Basic:ATTACH|ATTACH]] | * [[MC-Basic:ATTACH|ATTACH]] | ||
| − | * [[ | + | * [[MC-Basic:axis.POSITIONFACTOR|axis.POSITIONFACTOR]] |
| − | * [[ | + | * [[MC-Basic:axis.POSITIONMAX|axis.POSITIONMAX]] |
| − | * [[ | + | * [[MC-Basic:axis.POSITIONMAXENABLE|axis.POSITIONMAXENABLE]] |
| − | * [[ | + | * [[MC-Basic:axis.POSITIONMINENABLE|axis.POSITIONMINENABLE]] |
}} | }} | ||
Latest revision as of 07:43, 20 April 2017
| Language: | English • 中文（简体） |
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This property is a software limit defining the lower limit of the axis. Motion commands with target positions below this limit are not allowed. If an axis has passed the limit, motion commands to move it away from the limit are allowed. The lower position limit is enabled or disabled using the POSITIONMINENABLE property.
 | IMPORTANT |
| In groups/robots there exist a additional PMIN value to every joint which differs from the axis value. For example A1.PMIN ≠ J1.PMIN. Irrespectively if the group coupling is turned on or off. |
Short form
<axis>.Pmin
Syntax
<axis>.PositionMin = <expression>
? <axis>.PositionMin
Availability
All versions
Type
Double
Range
± Max Double
Units
User axis position units, as given by <axis>.POSITIONFACTOR.
Default
Max Double
Scope
Configuration, Task or Terminal
Limitations
- Cannot be changed while the axis is moving.
- Must be less than the upper limit, PMAX.
- To set the value within a task, the axis must be attached to that task (using the ATTACH command).
Examples
Xaxis.PMin = 1002