AXIS#.SWLS.LIMIT#
Description
Sets the position value for a software limit switch, LIMIT0 or LIMIT1.
Examples
Usage
If only one limit switch is enabled, AXIS#.SWLS.EN = 1 or 2, then AXIS#.SWLS.LIMIT0 is the lower limit and AXIS#.SWLS.LIMIT1 is the upper limit.
If both limit switches are enabled, AXIS#.SWLS.EN = 3, then whichever switch is set to a larger value is the upper limit switch and the other switch is the lower limit switch.
"AXIS#.CS.DEC " is executed when a SWLS is triggered. The user can set the CS.DEC value, or go with the default 10,000 rpm/s. Once the switch is triggered, a warning W6006 results, and the position/load must be moved back within the limits to remove the warning.
Code
Axis 1 lower limit switch set to 1000 and upper limit switch set to 5000. Axis 1 home position is set and then both software limit switches are enabled.
-->AXIS1.SWLS.LIMIT0 1000 -->AXIS1.SWLS.LIMIT1 5000 -->AXIS1.HOME.SET -->AXIS1.SWLS.EN 3
Context
For more information on limit switches, refer to Limits.
Versions
| Action | Version | Notes |
|---|---|---|
| Implemented | 02-00-00-000 |
General Information
| Type | Read/Write |
| Units | Position Units |
| Range | -9,007,199,254,740,992.000 to 9,007,199,254,740,992.000 |
| Default Value | AXIS#.SWLS.LIMIT0 = 0 |
| AXIS#.SWLS.LIMIT1 = 5760 | |
| Data Type | Float |
| See Also | AXIS#.SWLS.STATE, AXIS#.SWLS.EN |
| Stored in Non-Volatile Memory | Yes |
Variants Supported
All variants are supported.
Fieldbus Information
|
Command |
Index |
SubIndex |
Data Type |
Units |
Float Scale |
Access |
PDO Mappable |
|---|---|---|---|---|---|---|---|
|
AXIS1.SWLS.LIMIT0 |
500fh |
03h |
Signed32 |
Position |
- |
Read/Write |
No |
|
AXIS1.SWLS.LIMIT1 |
500fh |
04h |
Signed32 |
Position |
- |
Read/Write |
No |
|
AXIS2.SWLS.LIMIT0 |
510fh |
03h |
Signed32 |
Position |
- |
Read/Write |
No |
|
AXIS2.SWLS.LIMIT1 |
510fh |
04h |
Signed32 |
Position |
- |
Read/Write |
No |
|
AXIS1.SWLS.LIMIT0 |
607dh |
01h |
Signed32 |
Position |
- |
Read/Write |
No |
|
AXIS1.SWLS.LIMIT1 |
607dh |
02h |
Signed32 |
Position |
- |
Read/Write |
No |
|
AXIS2.SWLS.LIMIT0 |
687dh |
01h |
Signed32 |
Position |
- |
Read/Write |
No |
|
AXIS2.SWLS.LIMIT1 |
687dh |
02h |
Signed32 |
Position |
- |
Read/Write |
No |
|
ID |
Instance |
Attribute |
Name |
Data Type |
Access |
User Mappable |
|---|---|---|---|---|---|---|
|
6501 |
1 |
6501 (0x1965) |
AXIS1.SWLS.LIMIT0 |
Signed32 |
Read/Write |
Yes |
|
72037 |
2 |
6501 (0x1965) |
AXIS2.SWLS.LIMIT0 |
Signed32 |
Read/Write |
Yes |
|
6502 |
1 |
6502 (0x1966) |
AXIS1.SWLS.LIMIT1 |
Signed32 |
Read/Write |
Yes |
|
72038 |
2 |
6502 (0x1966) |
AXIS2.SWLS.LIMIT1 |
Signed32 |
Read/Write |
Yes |
|
Parameter |
PNU |
Data Type |
Access |
Units |
|---|---|---|---|---|
|
AXIS#.SWLS.LIMIT0 |
6501 |
Signed32 |
Read/Write |
Position |
|
AXIS#.SWLS.LIMIT1 |
6502 |
Signed32 |
Read/Write |
Position |
