AXIS#.HWLS.POSSTATE

Description

Returns if the positive hardware limit is active (motion is being prevented).

When the axis hits the positive 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 positive 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 When the hardware limit is no longer active full motion is allowed in both directions.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 6007 (Positive Limit Switch triggered) is generated.

The digital input selected as the limit switch using AXIS#.HWLS.POSSOURCE has to be active/energized to allow motion, AXIS#.HWLS.POSSTATE 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.POSSTATE 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.

Usage

0: Positive limit switch is not active and any motion is allowed.

1: Positive limit switch has been hit and negative motion is prevented.

Code

Axis 1 positive limit switch is active allowing motion. Axis 2 positive limit switch is preventing motion in the positive direction.

-->AXIS1.HWLS.POSSTATE0
-->AXIS2.HWLS.POSSTATE1

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.POSSOURCE
Stored in Non Volatile Memory No

Variants Supported

All variants are supported

Fieldbus Information

FieldbusClosedA Fieldbus is an industrial network system for real-time distributed control (e.g. CAN or Profibus). It is a way of connecting instruments in a plant design Parameter Index Sub-Index Data Type Float Scale Units Access PDO Mappable
EtherCATClosedEtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs COE and CANopen AXIS1.HWLS.POSSTATE 0x5015 0x2 USINT - - RO True
AXIS2.HWLS.POSSTATE 0x5115 0x2 USINT - - RO True