T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW
PAGE 6-46
6.7.3.5 Analog Torque Limiting in Position Mode
The Analog Torque Limit functions in exactly the same way in position mode, as it does in torque mode. See Section
6.7.1.6 Analog Torque Limiting in Torque Mode for a full description.
6.7.3.6 Position Limits in Position Mode
There are two means of activation of position limiting in the T200, when it operates in position mode.
1. Hardware Limit Switches:- Hardware Limits Switches are described in Section 6.4.5 - Limit Switch Function.
The reaction of the T200 in various modes of operation are described in that section.
2. Software Position Limits:- CAN Profile and Interpolation modes, as well as the Point Motion Control system,
provide software limit switch functionality. See the Point Manual for the Point software position limits. (This
function is not provided in Stepper Motor Interface mode as the hardware limit switches are already active and there
is no Homing Cycle in that mode.)
6.7.3.7 Velocity Rate Limiting in Position Mode
The Velocity Command (as the output of the position loop section) may be limited in exactly the same fashion as in
velocity mode (see Section 6.6.2.5 Rate Limiting in Velocity-Mode).
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