Xenus Plus User Guide 16-01344 Rev 06
Copley Controls 57
How the Drive Responds to Limit Switch Activation
The drive stops any motion in the direction of an active limit switch, as described below.
The response is identical in current and velocity modes, and slightly different in position mode.
Drive Response to Active Positive (or Negative) Limit Switch
Drive prohibits travel in positive (or negative) direction. Travel in the opposite direction is still allowed.
Drive status indicator flashes green at fast rate.
Warning is displayed on CME Control Panel and CME Control Panel limit indicator turns red.
Drive stops responding to position commands until the drive is disabled and re-enabled, or the fault is
cleared over the CANopen interface.
Drive status indicator flashes green at fast rate.
Warning is displayed on CME Control Panel and CME Control Panel limit indicator turns red.
Default behavior: If, after re-enabling the amp, the limit switch is still active, the drive will only allow
movement in the opposite direction.
“Hold position” behavior: If the *Hold position when limit switch is active option is set, the drive prevents
any motion while a limit switch is active.
CAUTION: If the drive is switched back to current or velocity mode with this option selected, the limit
switches will no longer function.
For more information on *Hold position when limit switch is active, see the CME User Guide.
Using Custom Output to Signal Limit Switch Activation
In addition to the response described above, any of the drive’s digital outputs can be configured
to go active when a positive or negative limit switch is activated.
For more information, see the CME User Guide.
2.9.3: Analog Inputs
Two programmable differential analog inputs, AIN1 and AIN2 are connected on J12. As reference
inputs they can take position/velocity/torque commands from a controller. If not used as command
inputs, they can be used as general-purpose analog inputs. The input voltage range is ±10V.
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