Active and inactive state of the Negative limit switch will be reflected as 1 and 0 , in the corresponding bit
(according to configured GPIO) of the object 0x60FD (Digital Inputs)
Negative Limit Switch Active Low - Level Triggered for Homing & Edge Triggered (Latch) for Error
(NegLmAct) (9)
Active and inactive state of the Negative limit switch will be reflected as 0 and 1 , in the corresponding bit
(according to configured GPIO) of the object 0x60FD (Digital Inputs)
Note
Irrespective of the switch type (Active High or Active Low) , active and inactive states of the negative limit
switch will be shown as 1 and 0 respectively in bit 0 (negative limit switch) of the Digital Input Object
0x60FD.
Note
Negative Limit switch also triggers Quick Stop, If drive is either in any opmode other than HOMING or
drive in is HOMING mode but the switch is not being used by the homing method. If Negative Limit
Switch has been activated in this case, then bit 2 (qs) of the Controlword will be cleared and Quick Stop
will be executed.
Driving out of the limit switch is only possible in the opposite direction, the concrete behavior is mode-
dependant:
Modes CSP, PP , PV , CSV , CST and PT
If a target is commanded which would move the axis further into the direction of the switch, the motor will
stand still, since further movement in the direction of switch is not allowed.
Cogging torque compensation
If the switch is active and the user tries to switch to cogging torque compensation, this will not be allowed.
The error based on the activated switch will be raised by firmware.
Diagnostics mode
The following OS commands are not executed, if either of the limit switches is active:
OS command 2 (Open Loop Field Mode)
OS command 4 (Motor Phase Order Detection)
OS command 5 (Commutation offset detection with Methods 0 and 1)
OS command 6 (Open phase detection)
OS command 7 (Pole pair detection)
OS command 8 (Phase Resistance Measurement)
OS command 9 (Phase Inductance Measurement)
If any of these OS commands is called while a limit switch is active, the response will be
OSCMD_ERROR_CMD_NOT_ALLOWED.
The following OS commands can be executed, even if either of the limit switches is active:
OS command 0 (Encoder register communication)
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