JVL MIS17 Series User Manual page 132

5.9
5.9.4 Limit Error handling
A bit will be set in the Controller's warning register if either the NL, PL, NLS or PLS has
been activated or are active. See Warn_Bits, page 202.
Bits 0 and 2 are common for PL and PLS. Bits 1 and 3 are common for NL and NLS.
The motor will stop and activate an error, when reaching a limit. When a limit error is
active the motor is forced into passive mode, and further movements are impossible. To
reset the error press the "Clear Errors" button in MacTalk. Clearing errors automatically
also clears warnings too.
5.9.5 Limit handling - optional
The MIS motors can be configured to stop and stay in the current mode when reaching
a limit. This can be done by setting the DisableErrorOnTravelLimit-bit in the SETUP_BITS
register. See Setup_Bits, page 213.
When the NoErrorOnPositionLimit-bit is set the motor decelerates with the "Error de-
celeration" on travel limits in all modes and on position limits in velocity mode. The nor-
mal acceleration is used on position limits in position and gear mode.
5.9.6 Simple mode: Position limits without memory
A very simple implementation of the hardware position limits sets the Error bit if limit
has been reached, but is allowed to continue in the same direction when the Error has
been reset and the motor has been set in an active mode.
Please be aware: When combining this mode with DisableErrorOnTravelLimit-bit, the
motor will continue to run if it runs "over" the sensor because of too low deceleration.
This can cause damage if not handled correctly by external logic (a PLC for instance).
"Position limits without memory" is enabled in the
132 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x
Position Limits
, page 213 , bit 28.
Setup_Bits