Checking For Protection Zone Violation, Working Area Limitation And Software Limit Switches (Calcposi) - Siemens SINUMERIK 840D sl Programming Manual

Protection zones

3.3 Checking for protection zone violation, working area limitation and software limit switches (CALCPOSI)

3.3 Checking for protection zone violation, working area limitation and
software limit switches (CALCPOSI)
Function
As of the start position, the
violated along the traversing distance in the workpiece coordinate system (WCS) with regard
to the geometry axes.
If the distance cannot be fully traversed because of limits, a positive, decimal-coded status
value and the maximum possible traversing distance are returned.
Syntax
<Status> = CALCPOSI(VAR <Start>, VAR <Dist>, VAR <Limit>, VAR
<MaxDist>, <System>, <TestLim>)
Meaning
CALCPOSI
<Status>
224
: Test for limit violations with regard to the geometry axes.
Preprocessing
stop:
Alone in the block:
: Function return value. Negative values indicate error states.
(Part 1)
Data type:
Range of values:
Values
0
-1
-2
-3
-4
-5
-6
-7
-8
function checks whether active limits have been
CALCPOSI()
No
Yes
INT
-8 ≤ x ≤ 100000
Meaning
The distance can be traversed completely.
At least one component is negative in <Limit>.
Error in a transformation calculation.
Example: The traversing distance passes through a singularity
so that the axis positions cannot be defined.
The specified traversing distance <Dist> and the maximum
possible traversing distance <MaxDist> are linearly
dependent.
Note
Can only occur in conjunction with <TestLim>, bit 4 == 1.
The projection of the traversing direction contained in <Dist>
on to the limitation surface is the zero vector, or the traversing
direction is perpendicular to the violated limitation surface.
Note
Can only occur in conjunction with <TestLim>, bit 5 == 1.
In <TestLim>, bit 4 == 1 AND bit 5 == 1
At least one machine axis that has to be considered for
checking the traversing limits has not been homed.
Collision avoidance function: Invalid definition of the kinematic
chain or the protection zones.
Collision avoidance function: This command cannot be
executed because of insufficient memory.
Programming Manual, 03/2013, 6FC5398-2BP40-3BA1
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