18．EtherCAT COMMUNICATION
18.5.8 Software position limit
Specify the upper and lower limits of the command position and current position. If a command position
exceeding the limit position is specified, the command position is clamped at the limit position. Specify a
relative position from the machine home point (position address = 0) as the limit position.
This function is enabled when the home position is not erased in the cyclic synchronous position mode (csp),
profile position mode (pp), point table mode (pt) or Jog mode (jg). While the clamp processing is being
performed with the command position exceeding the limit value, [AL. 98 Software limit warning] occurs and
not cleared. When the position command of the direction opposite to reached Software position limit (607Dh)
is given, the operation can be restarted.
In the cyclic synchronous position mode (csp), stop a command when the software position limit is detected.
When the command position exceeds 32 bits (-2147483648 to 2147483647), [AL. 69 Command error]
occurs. When the command position exceeds the limit range by 30 bits (-536870912 to 536870911), [AL. 69
Command error] also occurs.
When [AL. 69 Command error] has occurred, the home position is erased. Perform a home position return
again. The following table lists the related objects.
Min position limit
(Note)
Specify a relative position from the
machine home point (position
address = 0) as the minimum
value of the command position
and current position. When the
value falls below the minimum
value, it is clamped and
processed as the minimum value.
Max position limit
(Note)
Specify a relative position from the
machine home point (position
address = 0) as the maximum
value of the command position
and current position. When the
value exceeds the maximum
value, it is clamped and
processed as the maximum value.
When the set value of Min position limit is equal to or greater than the set value of Max position limit, the function of Software
position limit (607Dh) is disabled.
18.5.9 Torque limit
Generated torque can be limited with the values of Positive torque limit value (60E0h) and Negative torque
limit value (60E1h). When "0" is set, torque () is not generated. The following table lists the related objects.
Positive torque
limit value
[Pr. PA11 Forward rotation
torque limit/positive direction
limit] Torque limit value in CCW
power running/CW regeneration
Unit: 0.1% (rated torque of
100%) Range: 0 to 10000
Negative torque
limit value
[Pr. PA12 Reverse rotation
torque limit/negative direction
limit] Torque limit value in CW
power running/CCW regeneration
Unit: 0.1% (rated torque of
100%) Range: 0 to 10000
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