Allowance For Axis-Specific Traversing Range Limits; Behavior Of Path Motion When An Error Occurs On A Participating Path Axis Or Positioning Axis - Siemens SIMOTION Function Manual

Limiting and monitoring the setpoint error:
● With setting enableCommandValue := NO_ACTIVATE:
● With setting enableCommandValue := WITHOUT_JERK:
● With setting enableCommandValue := WITH_JERK:
Activation of monitoring (configuration
data)
Tolerance value (configuration data)
Alarm when violation occurs
Setpoint errors exceeded (system
variable)
Setpoint discrepancy between path
object specification and axis output
value (system variable)
Relevant path object (system variable)
2.10

Allowance for axis-specific traversing range limits

The traversing range limits of the path and positioning axes, i.e. active software limit
switches, are taken into account in the participating axes and not in the path object.
If a participating axis detects a possible violation of its axis-specific working area, an alarm is
triggered along with an appropriate error response.
2.11 Behavior of path motion when an error occurs on a participating
path axis or positioning axis
If an error occurs on a path axis or the positioning axis for path-synchronous motion causing
the axis motion to stop and the command to be canceled, the path interpolation is canceled
and the specified error response is performed.
See Local alarm response (Page 136).
The other axes participating in the path motion travel to velocity 0.0 with the maximum
dynamic values.
TO Path Interpolation
Function Manual, 11/2010
– The dynamic limitation is performed without taking the jerk into account.
– The resulting setpoint error is not monitored.
– The dynamic limitation is performed without taking the jerk into account.
– The resulting setpoint error is monitored.
– The dynamic limitation is performed taking the jerk into account.
– The resulting setpoint error is monitored.
Path motion on the path axis
pathAxisPosTolerance.
enableCommandValue
pathAxisPosTolerance.
commandValueTolerance
40401 Tolerance of the axis-specific
path setpoints exceeded
pathMotion. limitCommandValue
pathMotion. differenceCommandValue
pathMotion.activePathObject
2.10 Allowance for axis-specific traversing range limits
Synchronous motion on the positioning
pathSyncAxisPosTolerance.
enableCommandValue
pathSyncAxisPosTolerance.
commandValueTolerance
40126 Tolerance of the axis-specific
synchronous setpoints exceeded
pathSyncMotion. limitCommandValue
pathSyncMotion.
differenceCommandValue
pathSyncMotion. activePathObject
Basics of Path Interpolation
axis
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