Y_AX_PositionLimits

This function block enables or disables the position limit function. It also allows continuous streaming of new position limits. This block uses MC_WriteBoolParameter, MC_ReadBoolParameter, MC_WriteParameter, and MC_ReadParameter.

Parameters:

*	Parameter	Data Type	Description	Default
VAR_IN_OUT
B	Axis	AXIS_REF	Logical axis reference.
VAR_INPUT
B	Enable	BOOL	The function will continue to execute every scan while Enable is held high and there are no errors.	FALSE
V	LimitPositionEnable	BOOL	Enables / Disables the position limit function in the motion engine.	FALSE
V	LimitPositionPositive	LREAL	The maximum commanded position allowed.	LREAL#0.0
V	LimitPositionNegative	LREAL	The minimum commanded position allowed.	LREAL#0.0
VAR_OUTPUT
B	Valid	BOOL	Indicates that the function is operating normally and the outputs of the function are valid.
V	LimitPositionEnableEcho	BOOL	Status of the Position Limit function from the motion engine.
V	LimitPositionPositiveEcho	LREAL	Value used by the motion engine for the maximum allowed commanded position.
V	LimitPositionNegativeEcho	LREAL	Value used by the motion engine for the minimum allowed commanded position.
B	Error	BOOL	Set high if an error has occurred during the execution of the function block. This output is cleared when 'Execute' or 'Enable' goes low.
E	ErrorID	UINT	If Error is true, this output provides the Error ID. This output is reset when 'Execute' or 'Enable' goes low.

The software position limits are managed by the controller. The parameters are called LimitPositionPositive and LimitPositionNegative, with values of UINT#1201 and UINT#1200 respectively. Use the MC_WriteParameter function block for these and all controller side parameters. Position limit parameters are in user units.
When a position limit is exceeded, a controller alarm will be generated, obtainable via the MC_ReadAxisError function block, or the web server.
The controller alarm will be 16#3202 0001 if the positive position limit is exceeded and 16#3202 0002 if the negative position limit is exceeded.
To disable the position limits, set LimitPositionEnable, parameter 1202 to zero.
LimitPositionPositive must be greater than LimitPositionNegative.
LimitPositionNegative must be lower than LimitPositionPositive.
See the PositionLimits eLearning Module on Yaskawa's YouTube channel.