MC-Basic:SYSTEM.MOTIONMARGIN

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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