Operational Theory Xenus XSL User Guide
32 Copley Controls Corp.
2.7: Limit Switches
2.7.1: Use Digital Inputs to Connect Limit Switches
Limit switches help protect the motion system from unintended travel to the mechanical limits. Any
of the digital inputs 2-12 can be can be programmed as positive or negative limit switch inputs.
With the amplifier operating as a CAN node, an input can also be programmed as a home limit
switch for CANopen homing operations.
2.7.2: Diagram: Sample Placement of Limit Switches
The following diagram shows these limit switches in use on a sample motion stage.
Mechanical Limits of Motion Stage
Negative
Limit
Sw itch
Positive
Limit
Sw itch
Home
Sw itch
2.7.3: How the Amplifier Responds to Limit Switch Activation
The amplifier 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.
Mode Amplifier Response to Active Positive (or Negative) Limit Switch
Current
Velocity
Amplifier prohibits travel in positive (or negative) direction. Travel in the opposite direction is still allowed.
Amplifier status indicator flashes green at fast rate.
Warning is displayed on CME 2 Control Panel and CME 2 Control Panel limit indicator turns red.
Position Amplifier stops responding to position commands until the amplifier is disabled and re-enabled, or the fault
is cleared over the CANopen interface.
Amplifier status indicator flashes green at fast rate.
Warning is displayed on CME 2 Control Panel and CME 2 Control Panel limit indicator turns red.
If, after re-enabling the amp, the limit switch is still active, the amplifier will only allow movement in the
opposite direction.
2.7.4: Using Custom Output to Signal Limit Switch Activation
In addition to the response described above, any of the amplifier’s digital outputs can be
configured to go active when a positive or negative limit switch is activated. For more information,
see Custom Output Functions (p. 45).
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