Software limits exceeded "Triggered" to PLC

    Hey all,

    It's my first time posting here but I've been a reader for quite some time now.

    Let me know if there is any info missing.


    I Would like to know if there is a system_variable that triggers in case the Software axis limits are reached during EXT mode. I couldn't find anything related to this in the documentation.

    The Idea would be reading this Flag in the PLC to stop other hardware components as well.


    If there isn't such variable, what would you say is the best way to implement this? I thought of either using ".sps" or using multiple "$CYCFLAG".


    Details:

    KSS 8.6.6

    KRC4 compact

    Kuka 6 R900-2


    Communication protocols:

    ProfiNet(V5.0.2)+ProfiSafe



    Thanks in advance,

    José Damasceno

    I have to go with Panic on this one.


    As a purely theoretical exercise, one could probably set up

    $CYCFLAG[1] = (($AXIS_ACT.A1>$SOFTN_END[1]) AND ($AXIS_ACT.A1<$SOFTP_END[1]))... and so on. But you would then still need some SPS code to copy the $CYCFLAG to a $OUT. Would probably be similar to just build a Boolean algebra equation in the SPS loop.


    But using an Axis workspace would be the simplest of all.

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