AXIS#.HWLS.NEGSTATE
Description
Returns if the negative hardware limit is active (motion is being prevented).
When the axis hits the negative limit switch, the axis will decelerate to a stop using AXIS#.CS.DEC and then the axis holds the position it stopped at. Any further negative velocity motion towards the limit switch is prevented but motion is allowed in the opposite direction away from the switch. When the hardware limit is no longer active, full motion is allowed in both directions.
While the limit switch is active, warning 6006 (Negative Limit Switch triggered) is generated.
The digital input selected as the limit switch using AXIS#.HWLS.NEGSOURCE has to be active/energized to allow motion, AXIS#.HWLS.NEGSTATE will be 1. If the digital input is not active/deenergized the axis will stop. If DIN#.INV is changed from its default value to 1 the polarity of the hardware limit switch is inverted, i.e. the limit switch is active when the digital input is energized.
-
- The value returned from AXIS#.HWLS.NEGSTATE is in the opposite sense to the value reported by DIN#.STATE.
-
- When Gantry mode is active (CMDSOURCE = GANTRY), a Limit Switch triggered on one axis will be reported on all axes on the drive
Examples
Usage
0: Negative limit switch is not active and any motion is allowed.
1: Negative limit switch has been hit and negative motion is prevented.
Code
Axis 1 negative limit switch is not active allowing motion. Axis 2 negative limit switch is active preventing motion in the negative direction.
-->AXIS1.HWLS.NEGSTATE 0 -->AXIS2.HWLS.NEGSTATE 1
Context
For more information on limit switches, refer to Limits.
Versions
| Action | Version | Notes |
|---|---|---|
| Implemented | 02-00-00-000 |
General Information
| Type | Read Only |
| Units | N/A |
| Range | 0 to 1 |
| Default Value | N/A |
| Data Type | Integer |
| See Also | AXIS#.HWLS.NEGSOURCE |
| Stored in Non Volatile Memory | No |
Variants Supported
All variants are supported
Fieldbus Information
|
Command |
Index |
SubIndex |
Data Type |
Units |
Float Scale |
Access |
PDO Mappable |
|---|---|---|---|---|---|---|---|
|
AXIS1.HWLS.NEGSTATE |
5015h |
01h |
Unsigned8 |
- |
- |
Read only |
Yes |
|
AXIS2.HWLS.NEGSTATE |
5115h |
01h |
Unsigned8 |
- |
- |
Read only |
Yes |
|
ID |
Instance |
Attribute |
Name |
Data Type |
Access |
User Mappable |
|---|---|---|---|---|---|---|
|
5600 |
1 |
5600 (0x15e0) |
AXIS1.HWLS.NEGSTATE |
Unsigned8 |
Read Only |
Yes |
|
71136 |
2 |
5600 (0x15e0) |
AXIS2.HWLS.NEGSTATE |
Unsigned8 |
Read Only |
Yes |
|
Parameter |
PNU |
Data Type |
Access |
Units |
|---|---|---|---|---|
|
AXIS#.HWLS.NEGSTATE |
5600 |
Unsigned8 |
Read Only |
- |
