Parameter groups: 74 Position status & control words (page 440) and 86.2 Actual
position (page 463).
Position limits
The control program has software limits (86.60 and 86.61) as well as support for
hardware limits (86.63 and 86.64).
If a limit is reached, parameter 74.10 will indicate the status Error Stop. To exit
this status, a reset command (74.21) must be given or the enable signal (74.20)
cycled.
￭
Software limits
• For activation, it is required that bit 4 of 74.1 is set, and parameters 86.60 and
86.61 are set to different values. A completed homing routine or position preset
movement is necessary for non-absolute position feedback in order to set bit
4 of 74.1.
• Software limits are not active in modulo operation.
• Axis speed and position are supervised during operation. If the axis is
approaching a limit, the axis will begin stopping before the limit, and stop
close to the limit. The deceleration and jerk rates are defined by 75.31 and 75.32
respectively.
• 75.31 and 75.32 must have higher values than the corresponding rates for the
base movement.
￭
Hardware limits
With limit switches of the normally-closed type, it is expected that the state of the
switch is true within the limits, and false outside the limits.
Settings and diagnostics
Parameter groups: 74 Position status & control words (page 440) and 86.2 Actual
position (page 463).
Position latching
Position latching is a functionality in which the motor position is captured when
a triggering condition is fulfilled. The drive has two registers for latched positions
from encoders 1 and 2, and the values (in increments) are stored in parameters
86.53 and 86.54 respectively. These values correspond to parameters 86.4 and
86.5 at the moment of triggering. Bits 4 and 5 of 86.1 indicate whether latching
has occurred.
There are two latching modes, hardware and software latching. In hardware
latching, a digital input of the FEN-xx encoder interface module (or encoder Z-pulse)
is used for triggering, and the position value received from the encoder becomes
Position control program features 45
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