Further general system characteristics

• Limit switch monitoring:(not effective with modulo axes): when a motion path limit is detected, braking takes place at the rapid traverse acceleration values (limit acceleration at the power limit, see P-AXIS-00004 or P-AXIS-00005, P-AXIS-00006), not at the default acceleration.
• The Discrete Motion state (MC_MoveRelative) aborts the Continuous Motion state at high speed, with the result that the deceleration distance amounts to more than one modulo range. The expected behaviour does not transpire from the PLCopen specification. In the case of modulo axes, the ISG-MCP behaves as follows: the target position is noted at the moment of command aborting. The axis is braked over so many revolutions to the position as are necessary to keep to the acceleration stipulations. In the case of linear axes, the entire braking distance is run backwards because there is only one mathematical possibility of reaching the target position.