Software Limit Switches; Target Specifications - Baumuller b maXX BM3000 Operating Manual

Description of the Software Modules and Parameters

4.8.2.8 Software Limit Switches

Software limit switches can be activated in the Positioning, Jog and Position Control with
Synchronized Set Value Specification modes to restrict the permissible traversing range.
The software limit switches have no effect in any of the other modes.
The following should apply for setting the software limit switches:
HW Limit Switch 1 < SW Limit Switch 1 < SW Limit Switch 2 < HW Limit Switch 2
The behavior of the limit switch monitoring can be set. There are two different modes:
Automatic Limiting Mode
When the automatic limiting mode is set for the software limit switches, target positions
which lie beyond the limit switch are restricted to the respective limit switch. Thus the
drive stops at the software limit switch. Furthermore, the status flag for the particular soft-
ware limit switch is set and the Set Value Reached message is not displayed.
Error Message Mode
If the Error Message mode is selected for the software limit switches, the drive issues Er-
ror Message 908 or 909, "Software Limit Switch 1 or 2 Active" when the target position
lies beyond the limit switch.
The drive remains position-controlled and does not execute the erroneous task. The af-
fected limit switch is indicated in Parameter
No new positioning tasks will be executed while the error message is present. The error
message must be acknowledged beforehand. The Target Position Reached status mes-
sage is also not displayed.
If a positioning task with an invalid target position is activated while the drive is still mov-
ing, the positioning procedure which is still running will be executed to completion.

4.8.2.9 Target Specifications

The numerical range for positioning comprises 32 bits.
The position values are unsigned. There are two exceptions, the CANopen modes 9 and
12. In these modes a computed range offset of 2
and the actual position. In this respect, the target should be regarded as a signed value.
There are various possible ways of specifying the target position:
m Absolute target specification
m Relative target specification in a positive or negative direction relative to the last target
m Relative target specification in a positive or negative direction relative to the actual po-
m Relative target specification with sign relative to the last target position.
m Absolute / relative target specification:
position
sition at the time when the task was activated.
In this case, Bit 6 of the control word determines whether the target is absolute or rel-
ative (relative to the last target). If Bit 6 is set while the edge of "New Set Value" is ris-
ing, the target specification is relative. If the bit is cleared, the target specification is
Z121.2–
State of Limit Switches.
31
is made between the target position
Parameter manual b maXX BM3000
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