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LH
Hardware End-of-Travel Limit — Enable Checking
Type
Limit (End-of-Travel); Drive Configuration
Syntax
<a_><!>LH<i>
Units
n/a
Range
i = 0 (disable both), 1 (disable positive-direction),
2 (disable negative-direction), or 3 (enable both)
Default
3
Response
LH:
*LH3
See Also
[ AS ], [ ER ], DRIVE, ERROR, INDEB, INFNC, INLVL, LHAD, LHADA,
[ LIM ], LIMEN, LIMFNC, LIMLVL, LS, LSAD, LSADA, LSNEG, LSPOS,
TAS, TER, TLIM, TSTAT
Use the
command to enable or disable either or both end-of-travel limit inputs.
LH
Disable negative-direction limit; Disable positive-direction limit: LH0
Enable negative-direction limit; Disable positive-direction limit:
Disable negative-direction limit; Enable positive-direction limit:
Enable negative-direction limit; Enable positive-direction limit:
The "end-of-travel limit" functions are assigned with the
connector; or with the
DRIVE I/O
assignments on the
DRIVE I/O
inputs or inputs on external I/O bricks could be re-assigned as end-of-travel inputs):
The
command is required to enable checking the state of the end-of-travel limits (i.e.,
LH
); for example,
LIMFNCi-S
LH3
reported with axis status bits 15 and 16 (see
With limits disabled, motion will not be restricted. When a specific limit is enabled (positive- or negative-
direction), and the limit wiring for the enabled limit is a physical open circuit, motion will be restricted
(assuming the default active level of
inputs.
If an "end-of-travel limit" input is redefined with a different function (i.e., not
it is no longer controlled by the
If a hardware limit is encountered while limits are enabled, motion must occur in the
opposite direction; then you can make a move in the original direction. If limits are
disabled (LH0), you are free to make a move in either direction. When a hardware limit
is encountered, the drive sets TAS bit 15 or 16, as well as TER bit 2. To clear these
status bits, you can execute a GO in the opposite direction or disable the limits with the
LH0 command.
Example:
LH3
; Enable limits
LHAD100
; Set hard limit decel to 100 units/sec/sec
A10
; Set acceleration to 10 units/sec/sec
V1
; Set velocity to 1 unit/sec
D100000
; Set distance to 100000 units
GO1
; Initiate motion
188
Gemini GV6K/GT6K Command Reference
LIMFNC
command to onboard or external inputs. The factory default
INFNC
connector are as follows (but any of the three limit inputs, five general purpose
Limit # Pin #
GT6K & GV6K Function ( LIMFNC default )
1
28
LIMFNC1-R (Positive end-of-travel limit)
2
29
LIMFNC2-S (Negative end-of-travel limit)
3
31
LIMFNC3-T (Home limit)
is required to detect the occurrence of the hardware limit activation, as
,
,
TASF
TAS
AS
). The
LIMLVLØ
LIMLVL
command. Instead, use the
LH
NOTE
www.comoso.com
LH1
LH2
LH3
command to the onboard limit inputs on the
). The default
condition is enabled (
LH
command controls the active level of the limit
LIMFNCi-R
command.
LIMEN
Product
Rev
GT6K
6.0
GV6K
6.0
LIMFNC
, or
LIMFNCi-R
).
LH3
or
),
LIMFNCi-S
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