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 When the hardware limit is no longer active, full motion is allowed in both directions.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

EtherCAT CoE and CANopen

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

EtherNet/IP

Name

ID

Hex

Data Type

Access

Units

AXIS1.HWLS.NEGSTATE

5600

15E0

Unsigned8

Read Only

-

AXIS2.HWLS.NEGSTATE

71136

115E

Unsigned8

Read Only

-

PROFINET

Parameter

PNU

Data Type

Access

Units

AXIS#.HWLS.NEGSTATE

5600

Unsigned8

Read Only

-