EOT (End of Travel) Software Position Limits in a KAS application

In a KAS PxMM application program, to setup software End Of Travel (EOT) position limits:

1. Continually monitor (read) actual axis position.
   • Use MC_ReadActPos function block (if using the PLCopen motion engine)
   • Use MLAxisReadActPos function block (if using the Pipe Network motion engine)
2. Compare the present axis position to the desired position limit (a user created variable)
3. When the limit is exceeded command motion to a stop. Example (but not limited to):
   • Use MC_Stop or MC_Halt function block (if using the PLCopen motion engine)
   • Use MLAxisStop or MLAxisMoveVel function block (if using the Pipe Network motion engine)

Note: The SW position limit parameters (format SWLS.xxxxx) in the AKD Workbench do not function when the AKD is in Ethercat/Position operation mode.

For integrating Hardware EOT limit switches in a PxMM see Using EOT (End of Travel) hardware limit switches in a KAS application