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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.
|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.|
<axis>.PositionMin = <expression>
± Max Double
User axis position units, as given by <axis>.POSITIONFACTOR.
Configuration, Task or Terminal
- 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).
Xaxis.PMin = 1002