Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018 373
Soft Travel Limit, Positive and Negative
Usage Access Attribute Name Data
Type
Default Min Max Semantics of
Values
Required - E Set/ SSV
Soft Travel Limit -
Positive
REAL 0 -maxpos maxpos Position Units
Required - E Set/ SSV
Soft Travel Limit -
Negative
REAL 0 -maxpos maxpos Position Units
The Soft Travel Limit - Positive attribute sets the maximum positive travel limit
for actual position when Soft Travel Limit Checking is enabled. If this value is
exceeded, a Soft Overtravel exception is generated.
The Soft Travel Limit - Negative attribute sets the maximum negative travel limit
for actual position when Soft Travel Limit Checking is enabled. If this value is
exceeded, a Soft Overtravel exception is generated.
This attribute provides configurable software travel limits through the Soft Travel
Limit - Positive and Soft Travel Limit - Negative attributes. If the axis is
configured for Soft Travel Limit Checking, and the axis passes outside these travel
limits, a Software Travel exception condition occurs. In the case of a controlled
axis, when the axis is outside the travel limits and no motion is being commanded
or motion is being commanded to bring the axis back within the soft travel range,
the Soft Travel Limit exception is NOT generated. This facilitates recovery from
an existing Soft Travel Limit condition. In this case, a Fault Reset can be executed
to clear the fault, allowing the axis to be enabled, and then simply commanded
back inside the travel limits. For an uncontrolled axis, such as Feedback Only axis,
a Soft Travel Limit exception is always generated when the axis is outside the
travel limits. In this case the axis must be moved back inside the Travel Limits by
some other means. Any attempt to clear the Travel Limit fault in the uncontrolled
axis case while outside the travel limits results in an immediate re-issue of the Soft
Travel Limit exception.
When Soft Travel Limit Checking is enabled, appropriate values for the maximum
travel in both the Maximum Positive and Maximum Negative Travel attributes
need to be established with Soft Travel Limit - Positive value always greater than
Soft Travel Limit - Negative value. Both of these values are specified in the
configured Position Units of the axis.
Command Update Delay Offset
Usage Access Data Type Default Min Max Semantics of Values
Required - E
PV only
Set/ SSV DINT 0 -1 * MUP 2 * MUP microseconds
MUP = Multiplex Update Period
Use the Command Update Delay Offset attribute to introduce a time offset to the
command as part of the Master Delay Compensation feature of the control system
To Next Page
Loading...
Need help?
General
