MC-Basic:SYSTEM.MOTIONMARGIN

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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

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