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LIMLVL
Hardware Limit Input Active Level
Type
Limit (End-of-Travel and Homing)
Syntax
<a_><!>LIMLVL<b><b><b>
Units
n/a
Range
b = 0 (active low: requires n.c. EOT switch & n.o. home switch),
1 (active high: requires n.o. EOT switch & n.c. home switch),
or
X (don't care)
Default
0
Response
LIMLVL:
*LIMLVL000
See Also
[ AS ], LH, LIMEN, [ LIM ], LIMFNC, HOM, TAS, TLIM
Use the
command to define the active state the end-of-travel and home limits (found on the
LIMLVL
"
" connector). The default state is active low.
DRIVE I/O
Command syntax for limits on the
Limit # Pin #
1
2
3
LIMLVLbbb
Active Level Setting
Required Switch Type *
End-of-travel limit: N.C.
Active low (LIMLVL0)
This is the default setting.
Home limit: N.O.
Active high (LIMLVL1)
End-of-travel limit: N.O.
Home limit: N.C.
* Compumotor recommends that all end-of-travel limit switches be normally-closed, because with normally-closed
limit switches the drive detects a limit fault condition (and stops or inhibits motion) when the switch contact is open
or if the wiring to the switch is broken.
Axis Status (
,
, and
AS
TAS
TASF
activated (i.e., invoking the "inhibit motion" function).
Wiring instructions and specifications for the limit inputs are provided in the Hardware Installation Guide.
LJRAT
System Load-to-Rotor/Forcer Inertia/Mass Ratio
Type
System
Syntax
<a_><!>LJRAT<r>
Units
Rotary motor: r = ratio of load inertia to motor rotor inertia
Linear motor: r = ratio of load mass to forcer mass
Range
0.0 - 100.0
Default
0.0
Response
LJRAT:
*LJRAT4
See Also
DACTDP, DELVIS, TGAIN, TSGSET
The
command sets the system's load-to-rotor inertia ratio (rotary motors) or load-to-forcer mass
LJRAT
ratio (linear motors). The ratio is expressed in the following equation:
Rotary Motors:
= load inertia / motor rotor inertia
LJRAT
(Total system inertia = load inertia + motor rotor inertia)
connector (bits are numbered 1-3 from left to right):
DRIVE I/O
GT6K & GV6K Function ( LIMFNC default )
28
LIMFNC1-R (Positive end-of-travel limit)
29
LIMFNC2-S (Negative end-of-travel limit)
31
LIMFNC3-T (Home limit)
State
Grounded — sinking current
(device driving the input is on)
Not Grounded — not sinking current
(device driving the input is off)
Grounded — sinking current
(device driving the input is on)
Not Grounded — not sinking current
(device driving the input is off)
) bits 15 and 16 indicate when a hardware end-of-travel limit has been
www.comoso.com
Product
GT6K
GV6K
LIM/TLIM Report
1 (no limit hit)
0 (FAULT: limit hit)
0 (FAULT: limit hit)
1 (no limit hit)
Product
GT6K
GV6K
Linear Motors:
= load mass / forcer mass
LJRAT
(Total system mass = load mass + forcer mass)
Command Descriptions
Rev
6.0
6.0
Rev
6.0
6.0
195
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