Movements can be monitored using software limit switches. A positive position limit and a negative position limit can be set for monitoring.
If the positive or negative position limit switch are reached, the movement stops. An error message is generated and the operating state switches to 7 Quick Stop Active.
The error message can be reset by means of a “Fault Reset”. The operating state switches back to 6 Operation Enabled.
The movement can continue, however, only in the opposite direction of the position limit. For example, if the positive position limit was reached, further movement is only possible in negative direction. In the case of further movement in positive direction, a new error message is generated and the operating state switches back to 7 Quick Stop Active.
Software limit switch monitoring only works with a valid zero point, see chapter Size of the Movement Range.
Behavior in Operating Modes with Target Positions
In the case of operating modes with target positions, the movement is started normally, even if the target position is greater than the positive position limit or less than the negative position limit. When the position limit is approached, a Quick Stop is executed by the drive such that the motor reaches standstill at the limit.
In the following operating modes, the target position is verified prior to the start of a movement such that the position limit is not traversed regardless of the target position.
oJog (step movement)
Behavior in Operating Modes Without Target Positions
In operating modes without target position, by default a Quick Stop is triggered at the position limit.
The parameter MON_SWLimMode allows you to set the behavior when a position limit is approached.
|
Parameter name HMI menu HMI name |
Description |
Unit Minimum value Factory setting Maximum value |
Data type R/W Persistent Expert |
Parameter address via fieldbus |
|---|---|---|---|---|
|
Behavior when position limit is reached. 0 / Standstill Behind Position Limit: Quick Stop is triggered at position limit and standstill is reached behind position limit 1 / Standstill At Position Limit: Quick Stop is triggered in front of position limit and standstill is reached at position limit Type: Unsigned decimal - 2 bytes Write access via Sercos: CP2, CP3, CP4 Modified settings become effective immediately. |
- 0 0 1 |
UINT16 R/W per. - |
Modbus 1678 IDN P-0-3006.0.71 |
Standstill at the position limit in operating modes without target position requires the parameter LIM_QStopReact to be set to "Deceleration ramp (Quick Stop)", see chapter Stop Movement with Quick Stop. If the parameter LIM_QStopReact is set to "Torque ramp (Quick Stop)", the movement may come to a standstill in front of or behind the position limit due to different loads.
The software limit switches are activated via the parameter MON_SW_Limits.
|
Parameter name HMI menu HMI name |
Description |
Unit Minimum value Factory setting Maximum value |
Data type R/W Persistent Expert |
Parameter address via fieldbus |
|---|---|---|---|---|
|
Activation of software limit switches. 0 / None: Deactivated 1 / SWLIMP: Activation of software limit switches positive direction 2 / SWLIMN: Activation of software limit switches negative direction 3 / SWLIMP+SWLIMN: Activation of software limit switches both directions Software limit switches can only be activated if the zero point is valid. Type: Unsigned decimal - 2 bytes Write access via Sercos: CP2, CP3, CP4 Modified settings become effective immediately. |
- 0 0 3 |
UINT16 R/W per. - |
Modbus 1542 IDN P-0-3006.0.3 |
The software limit switches are set via the parameters MON_swLimP and MON_swLimN.
|
Parameter name HMI menu HMI name |
Description |
Unit Minimum value Factory setting Maximum value |
Data type R/W Persistent Expert |
Parameter address via fieldbus |
|---|---|---|---|---|
|
Positive position limit for software limit switch. If a user-defined value entered is outside of the permissible range, the limit switch limits are automatically set to the maximum user-defined value. Type: Signed decimal - 4 bytes Write access via Sercos: CP2, CP3, CP4 Setting can only be modified if power stage is disabled. Modified settings become effective the next time the power stage is enabled. |
usr_p - 2147483647 - |
INT32 R/W per. - |
Modbus 1544 IDN P-0-3006.0.4 |
|
|
Negative position limit for software limit switch. See description 'MON_swLimP'. Type: Signed decimal - 4 bytes Write access via Sercos: CP2, CP3, CP4 Setting can only be modified if power stage is disabled. Modified settings become effective the next time the power stage is enabled. |
usr_p - -2147483648 - |
INT32 R/W per. - |
Modbus 1546 IDN P-0-3006.0.5 |
