Difference between revisions of "MC-Basic:SYSTEM.MOTIONMARGIN"
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Revision as of 14:29, 28 May 2014
Defines the margin value beyond which the system limits accelerationvalue in case of excessive acceleration (acc> amax). In case the absolute value of acceleration command exceeds Sys.MotionMargin*AMAX the error "Marginal acceleration limit exceeded, element is stopped." is thrown and a stop profile is generated starting from initial position, velocity and Sys.MotionMargin*AMAX value of acceleration. This in order to prevent motors coasting in cases whn the computed initial commanded acceleration during stopping is extremly high. (can happen when passing near robot singularities).
Syntax
Sys.MotionMargin = <value>
System.MotionMargin = <value>
?Sys.MotionMargin
?System.MotionMargin
Availability
4.5.27
Type
Double
Range
1.0-100.0
Default
3.0
Scope
Configuration, Task or Terminal
Examples
System.MotionMargin = 2.0