JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x 93
5.6 Position Limits
5.6.4 Limit Error handling
A bit will be set in the Controller’s warning register if either the NL, PL, NLS or PLS has
been activated or are active. See
Warn_Bits, page 130 (MIS23x) and Warn_Bits, page 165
(MIS34x and MIS43x).
Bits 0 and 2 are common for PL and PLS. Bits 1 and 3 are common for NL and NLS.
The motor will stop and activate an error, when reaching a limit. When a limit error is
active the motor is forced into passive mode, and further movements are impossible. To
reset the error press the ”Clear Errors” button in MacTalk. Clearing errors automatically
also clears warnings too.
5.6.5 Limit handling optional only for MIS34x/43x
The MIS34x and MIS43x motors can be configured to stop and stay in the current mode
when reaching a limit. This can be done by setting the DisableErrorOnTravelLimit-bit in the
SETUP_BITS register. See
Setup_Bits, page 174.
When the NoErrorOnPositionLimit-bit is set the motor decelerates with the ”Error de-
celeration” on travel limits in all modes and on position limits in velocity mode. The nor-
mal acceleration is used on position limits in position and gear mode.
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