APPENDIX B
112 IPA Hardware Installation Guide
Software Configuration: Position Error & Soft
Limits
The (controller) Fault screen allows hardware limit switches to be enabled and the deceleration rate when a limit
is detected. Software limits can also be enabled. The Maximum Position Error can also be set. For basic setup,
set the maximum position errors to 10mm or 0.5 inch. This can be set to a tighter tolerance after tuning. For
IForce and Ripped positioners, the hardware limit sensors are very close to the end of travel (~2.54mm or 0.1in).
For this reason, enable the software limits. After homing on power-up or reset, the software limits will limit travel
and allow longer distance for the motor to decelerate. To approximate the distance during deceleration:
D decel = 0.5 (Vmax)^2 * m / F
The distance covered during the deceleration is one half of the maximum velocity during operation squared times
the total moving mass (include the coil mass) divided by the peak force of the motor.
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