<status>:
(Part 1)
Function return value. Negative values indicate error states.
Data type: INT
Value range: -8 ≤ x ≤ 100000
Value: 0 The distance can be traversed completely.
-1 At least one component is negative in <Limit>.
-2 Error in a transformation calculation.
Example: The traversing distance passes through a singu‐
larity so that the axis positions cannot be defined.
-3 The specified traversing distance <Dist> and the maximum
possible traversing distance <MaxDist> are linearly depend‐
ent.
Note
Can only occur in conjunction with <TestLim>, bit 4 == 1.
-4 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.
-5 In <TestLim>, bit 4 == 1 AND bit 5 == 1
-6 At least one machine axis that has to be considered for
checking the traversing limits has not been referenced.
-7 Collision avoidance function: Invalid definition of the kine‐
matic chain or the protection zones.
-8 Collision avoidance function: This command cannot be exe‐
cuted because of insufficient memory.
<status>:
(Part 2)
Units digit
Note
If several limits are violated simultaneously, the limit with the greatest restriction on
the specified traversing distance is signaled.
Value: 1 Software limit switches are limiting the traversing distance
2 Working area limits are limiting the traversing distance
3 Protection zones are limiting the traversing distance
4 Collision avoidance function: Protection zones are limiting
the traversing path
Tens digit
Value: 1x The initial value violates the limit
2x The specified straight line violates the limit.
This value is returned even 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 limit switches in
the WCS for non-linear transformations, e.g. transmit).
Work preparation
3.6 Protection zones
NC programming
Programming Manual, 12/2019, 6FC5398-2EP40-0BA0 583
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