LimZMargin Statement

Sets and returns the setting value for error detection when operation starts at higher than the LimZ value.

Syntax
(1) LimZMargin LimZmargin

(2) LimZMargin

Parameters

LimZmargin: Specify a margin value for LimZ error detection.

Return Values
If the parameter is omitted, current LimZMargin value will be returned.

Description
When Jump command is executed, Joint #3 lifts up to the position set by LimZ. However, if the start position of the joint is above the LimZ position, an error will occur. LimZMargin sets a margin value for the error detection. Default is 0.02 mm.

Note

Resetting LimZ to default

Restarting the controller, or executing the SFree, SLock, Motor On commands will initialize LimZ to the default value.

See Also
LimZMargin Function, LimZ

LimZ Statement Example
Following is a usage example of LimZMargin in Jump operation.

Function main
    LimZ -10            'sets LimZ default value
    LimZMargin 0.03     'sets 0.03 mm for a margin of LimZ error detection
    Jump P1             'horizontal movement with -10 at Jump execution
    Jump P2 LimZ -20    'horizontal movement with -20 at Jump execution
    Jump P3             'horizontal movement with -10 at Jump execution
Fend

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