Validity: Rule, Task
Parameter, axis-masked, to enable ip restriction to End of strokes if cam is enabled and motion imposition is used using direct write to IP kinematic variable.
Syntax |
I32 ip_write_bounds |
|---|---|
Attributes |
Non-retentive |
This parameter is initialized at switch on with the following rules:
•if present RPE initialized to 0
•if not present RPE initialized to 0xFFFFFFFF for compatibility with previous versions
If ip is imposed by the user, the behavior will be as follows:
if the set ip is greater or less than the software limit end of strokes parameterized in the predefined variables max_str and min_str and the predefined variable cam is enabled then:
•If the ideal quota ip is outside the software limit strokes max_str and min_str and you want to move further away, RTE generates the crash alarm and the imposed ip is ignored (the previous one is kept)
•If the ideal quota ip is on the software limit strokes max_str and min_str and you want to move out, RTE generates the crash alarm and the imposed ip is limited to the relative end of strokes
As long as the ip is outside the end of strokes, it will not be possible to reset the alarm.
By acting on the predefined variable ip_write_bounds, you will be able to change the behavior as follows:
•If the ideal ip is on the software max_str and min_str end of strokes and you want to exit, RTE will generate the crash alarm and the imposed ip will not be limited to the relative end of strokes, but its value will still be assumed
Even if the ip results outside the end of strokes it will be possible to reset the alarm. It will be regenerated if you try again to move further away.
