The digital input bits 2
0
and 2
1
work as lower or negative and upper or positive limit
switches. Refer to chapter 10.6 on page 124.
If the "In-Position Window" 0x6067 is active, the status bit "Target Reached" is not set
immediately after finishing the ramp, but only if the position remains in this window for
at least the "In-Position Time" 0x6068.
If the "Following Error Window" 0x6065 is active and the following error exceeds it for
the following error time in 0x6066, the drive changes to the fault state, sets the status
bit "Following error", and also sets the emergency "ECY_POSCTRL_FOLLOW" =
0x8611.
The fault reaction can be selected by its option code in 0x605E.
If the control bits "Quick-stop" or "Stop" are set, the drive stops according to the
related option codes in 0x605A and 0x605D.
After clearing the fault state or recovering from quick-stop or stop, the drive does not
automatically resume an aborted journey. It must be triggered again by another rising
edge of the control bit "New set-point".
Sets of set-points are currently not supported.
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