Validity: Rule, Task
This keyword is used to define the axis-in-position threshold used by RTE to manage the ax_in_pos variable.
Syntax |
REAL pos_thr (I32 n) |
|---|---|
n |
Axis index. Minimum representable number: 1 Maximum representable number: 32 |
Notes |
Its units of measurement are Units. Default value: 0.01 |
It is also used by RTE to define end mission(returns code = M_REACHED) on MV_ motion instructions.
NOTE: From RTE 33.18, the retentivity of this parameter(DIS_AXES_PAR_RE) can be disabled from the configurator.
Example
; axis in position threshold for axis 3 is imposed at 5 units ; That is, the axis is considered to be in position if ; the difference between the ideal and real position (position error) ; is in module less than 5 units pos_thr(3) = 5 |
