Protection zones
3.3 Checking for protection zone violation, working area limitation and software limits (CALCPOSI)
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Programming Manual, 07/2010, 6FC5398-2BP40-0BA0
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3.3 Checking for protection zone violation, working area limitation and
software limits (CALCPOSI)
Function
The CALCPOSI function is for checking whether, starting from a defined starting point, the
geometry axes can traverse a defined path without violating the axis limits (software limits),
working area limitations, or protection zones.
If the defined path cannot be traversed, the maximum permissible path is returned.
The CALCPOSI function is a predefined subprogram. It must be alone in a block.
Syntax
Status=CALCPOSI(_STARTPOS, _MOVDIST, _DLIMIT, _MAXDIST, _BASE_SYS, _TESTLIM)
Significance
Status
0: Function OK,
the specified path can be completely traversed.
–: At least one component is negative in _DLIMIT
–: An error has occurred in a transformation calculation
If the specified path cannot be completely traversed, then a
positive, decimal-coded value is returned:
Units digit (type of violated limit):
1: Software limits are limiting the traversing path.
2: Working area limits are limiting the traversing path.
3: Software limits are limiting the traversing path.
If several limits are violated simultaneously (e.g. software
limits and protection zones), the limit that results in the most
significant restriction in the specified traversing path is
indicated in the units digit.
Tens digit
10:
The initial value violates the limit
20:
The specified straight line violates the limit. This value is also
returned if the end point does not violate any limit itself but
the path from the starting point to the end point would cause
a limit value to be violated (e.g. by passing through a
protection zone, curved software limits in the WCS for non-
linear transformations, e.g. transmit).
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