Difference between revisions of "MC-Basic:SYSTEM.MOTIONMARGIN"
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| − | Defines the margin value beyond which the system generates an error and stops in case of excessive acceleration (acc> amax). <br> | + | Defines the margin value beyond which the system generates an error ('''3323''') and stops in case of excessive acceleration (acc> amax). <br> |
| − | In case the absolute value of acceleration command exceeds ''Sys.MotionMargin*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 when the computed initial commanded acceleration during stopping is extremely high. (can happen when passing near robot singularities). |
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| + | In case current acceleration is bigger then AMAX but smaller then ''Sys.MotionMargin*AMAX '' only a '''note''' (3310 - 3313) will be generated and motion will be not stopped by the system, however system could stop due to the following error but this depends on PEMAX settings and electro-mechanical parameters of the axis. | ||
|TYPE= | |TYPE= | ||
Revision as of 10:47, 21 March 2016
Defines the margin value beyond which the system generates an error (3323) and stops 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 when the computed initial commanded acceleration during stopping is extremely high. (can happen when passing near robot singularities).
In case current acceleration is bigger then AMAX but smaller then Sys.MotionMargin*AMAX only a note (3310 - 3313) will be generated and motion will be not stopped by the system, however system could stop due to the following error but this depends on PEMAX settings and electro-mechanical parameters of the axis.
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