Hardware Limit Operation; Software Limit Operation - YASKAWA SGD7S Product Manual

13.3 Controlling Operation from the Host Controller

13.3.8 Hardware Limit Operation

13.3.8 Hardware Limit Operation

The hardware limit operation monitors the CW-OT (CW Drive Prohibit Input) signal and the
CCW-OT (CCW Drive Prohibit Input) signal from limit switches. If either signal becomes active,
the motor is stopped.
If the counterclockwise hardware limit is reached while the motor is rotating counterclockwise,
a hard stop is performed. Similarly, if the clockwise hardware limit is reached while the motor is
rotating clockwise, a hard stop is performed. After the hard stop has been performed, only
movement away from the hardware limit is permitted.
The hardware limits in both directions are monitored while the motor is stopped.
Motor speed
CCW Hardware
Limit
Start Trajectory
Trajectory In
Progress

13.3.9 Software Limit Operation

The software limit operation decelerates the motor to a stop if a specified software limit is
reached.
If the current position of the motor exceeds a specified software limit, the motor will decelerate
to a stop. After the motor has stopped, it can move only in the direction that will return it to be
within the software limit. The positions that are managed by the SERVOPACK before an origin
return is performed do not match the positions in the machine coordinate system. Therefore,
the software limits have no meaning before an origin return is performed.
If a rotary coordinate system is specified, the software limits are active only within one machine
revolution.
Motor speed
Positive Software
Limit
Start Trajectory
Trajectory In
Progress
13-22
A1
1
0
1
0
1
0
A1
1
0
1
0
1
0
V1
Hard stop or
smooth stop
+
Inactive
Active
-