Limit Position Handling Procedure; Description; Operation Procedures - Delta ASDA A2-E User Manual

Chapter 5 CANopen Operation Mode

5.9 Limit Position Handling Procedure

5.9.1 Description

Drive will switch to Quick-Stop status while traveling to the position of positive or
negative limit sensors, and it can be handled by the following procedures.

5.9.2 Operation Procedures

1. The servo panel will show the alarm while sensors are close to the positive or
negative limit. The motor is controlled by a deceleration slope to stop and it is at
Quick-Stop status. The drive will keep in servo-on status but will not accept the
further motion command.
2. Set 【Controlword:6040h】to 0x8F for fault reset and clearing the alarm displayed
on the panel.
3. Set 【Controlword:6040h】to 0x1F/0x0F for Operation Enabled, and then the servo
can accept the motion command again.
4. For a motor at its limit position, there must be a command which can drive the motor
to the backward direction. Or the alarm will be triggered again while the motor starts
moving.
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ASDA A2-E
Revision April, 2015