Danfoss VLT Series Programming Manual page 25

Servo Drive Operation
the software position limit. In all other modes of operation,
the servo drive immediately ramps down using the Quick
stop deceleration value (see chapter 7.5.9 Parameter 50-13:
Quick Stop Deceleration (0x6085)) when the software
position limit is passed. This means that the servo drive
always stops after the Software position limit.
Position
controlled
Illustration 2.4 Software Position Limit
Illustration 2.5 to Illustration 2.9 show the behavior of the
servo drive around the position limits.
Positioning
Fieldbus
command
Target
reached
Command
Error
Positive software
limit active
PLC
Done
Busy
Error
Illustration 2.5 Normal Positioning: Target Position is in the
Valid Position Range
MG36D102
Programming Guide
Velocity
controlled
Position
Software
position limit
Software
position limit
Target
position
Time
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Positioning only to
Software position limit
Positioning
Fieldbus
command
Target
reached
Command
Error
Positive software
limit active
PLC
Done
Busy
Error
Illustration 2.6 Position Command: Target Position is Behind
the Software Position Limit
Positioning
Fieldbus
command
Target
reached
Command
Error
Positive software
limit active
PLC
Done
Busy
Error
Illustration 2.7 Servo Drive is Outside the Valid Position Limit
and the Target Position is in a Valid Area
2 2
Target
position
Software
position limit
Time
Software
position limit
Target
position
Time
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