Feature Configuration
ANCA Motion
DS619-0-00-0019 - Rev 0
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If the drive is enabled specifically for a Rotary Joint with the Limited Stroke Enable (P-0-0131 / 32899 where
1=ON) then the axis error limits are governed by the rotational limits specified in the Array for Location of End
Stops on a Rotary Joint [CCW ,CW] (see P-0-0132 / 32900). Such rotations are
constrained to within less than
one full revolution (see Figure 10-17).
Application and Consequences of Exceeding Error Limits
If the position is within the soft limit error region (see Figure 10-18), the drive will be unable to command
decelerations greater than the drive maximum deceleration to stop the joint at the soft position limit specified; the
drive then triggers C1D E304 or E305 and shuts down. The IDN P-0-0134 / 32902 can be used to specify the
two maximum decelerations to be applied to velocity or
–velocity motions, however if either of these
elements are set to 0, then the maximum deceleration is defined to be the minimum (in magnitude) of Global
Constraints (P-0-0106 / 32874 and P-0-0107 / 32875) or, if active, the Safety Constraints (P-0-0122 / 32890 and
P-0-0123 / 32891). See definitions previously given in the Constraints section of this document.
Error Code
Label
E304
Positive Soft Predictive Limit Exceeded
E305
Negative Soft Predictive Limit Exceeded
The hard error limits are a simple position and/or velocity value comparison parameter to the estimated
position/velocity feedback. If estimated position exceeds the position hard limit then error C1D E330 or E331 is
asserted. Similar velocity violations result in error C1D E332. The hard limits may help to define the boundary
between safe and hazardous operation, such as the ends of a linear operating boundary, or the maximum safe
velocity.
Error Code
Label
E330
Positive Position Hard Limit Exceeded
E331
Negative Position Hard Limit Exceeded
E332
Positive Velocity Hard Limit Exceeded
E333
Negative Velocity Hard Limit Exceeded
Figure 10-17
Modulo Rotary Axis with Limited Stroke