G-MAS Motion Limits Support

Because the G-MAS monitors and controls all motion in the system, it not only understands hardware limits, but also handles software limits for single axis and multi-axis applications.

A user can configure Hardware Limits and Software Limits in order to limit or stop a specific motion should a critical constraint be reached, thus protecting system components from damage.

Multi-axis limit handling is supported as follows:

• ACS Axis level:
  • High Limit
  • Low Limit

• MCS Group level:

• • High Limit Array
  • Low Limit Array

Handling for a specified Jerk and DC can be configured in detail, in order to ensure proper deceleration. When a Group limit is entered, the deceleration will occur “along the path”.

Design Features

• Limits handing for software and hardware
• Single axis limits handling
• Multi axis limit handling:
  • ACS – Axis level
  • MCS – Group level
• Dedicated status registers that report current limits status (for both single and multi-axis applications)