Controller Side Soft Limits and Their Properties

Supports ACS and MCS position limits on all groups.

These parameters can be written programmatically via function block. Refer to the Group Parameter master list.

Properties:

Limits are available in ACS and MCS coordinate systems.
Limits are available for Position, Velocity, Acceleration, Deceleration.

Note: The AXES_GROUP_REF struct does not report Deceleration limit.

By default, limits are "enabled" but are infinite.
Limits can be "disabled" to remember their values but not be enforced.
Limits values and enabled state can be modified via function block.
Limits modified via FB are NOT RESET with PLC start/stop. They are properties of the AXES_GROUP, which is persistent.
However, limits modified via FB are NOT retained across power-up.
Limits can be modified when the group's axes are powered or unpowered.
Limits can be modified when the AXES_GROUP is enabled or disabled.
Limits can only be modified when the AXES_GROUP is idle (motion queue is empty).
Writing the limits from FB will cause the AXES_GROUP_REF struct values to be updated immediately.
Moves in ACS coordinate frame are subject to ACS limits only.
Moves in MCS, WCS, or PCS coordinate frame are subject to both ACS and MCS limits. However:

Setting ACS limits and then moving in MCS/PCS/WCS frame (or vice versa) can not always detect all cases of potential limit violations beforehand due to nonlinear kinematics or moving PCS frame.
In these cases, alarm 3202001h - 32020030h may be generated at runtime.

Attempting to move outside position limits will return error 4681
If the function block inputs exceed Velocity and/or Acceleration group limits, these values are silently clamped to the group limits.

Hardware Configuration: Tab for MCS.

Machine limits tab is available for mechanisms which have complex transformation between ACS and MCS. It displays automatically in such cases. The values are in effect at startup.