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 Servomotor is stopped.
If the counterclockwise hardware limit is reached while the Servomotor is rotating counter-
clockwise, a hard stop is performed. Similarly, if the clockwise hardware limit is reached while
the Servomotor 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 Servomotor is stopped.
Motor speed
CCW Hardware
Limit
Start Trajectory
Trajectory In
Progress

13.3.9 Software Limit Operation

The software limit operation decelerates the Servomotor to a stop if a specified software limit is
reached.
If the current position of the Servomotor exceeds a specified software limit, the Servomotor will
decelerate to a stop. After the Servomotor 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 sys-
tem. 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
CCW
Inactive
Active
V1
Hard stop or
smooth stop
+
Inactive
Active
CW
-