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4.5
Software position limit
Specify the upper and lower limits of the command position and current position. If a command position exceeding the limit
position is specified, the command position is clamped at the limit position. Specify the limit position relative to the machine
home position (position address = 0).
The limit position includes [Home offset (Obj. 607Ch)]. Specify the limit position in consideration of the value in [Home offset
(Obj. 607Ch)]. Refer to [Pr. PT08 Homing position data] for details.
[AL. 098 Software limit warning] occurs when clamp processing is being performed with the command position exceeding the
limit value. Operation can be resumed by giving a position command in the reverse direction of the reached software position
limit.
In the cyclic synchronous position mode (csp), stop the command when the software position limit is detected. When the
command position exceeds 32 bits (-2147483648 to 2147483647), [AL. 069 Command error] occurs. When the command
position exceeds the limit range by 30 bits (-536870912 to 536870911), [AL. 069 Command error] also occurs.
If [AL. 069 Command error] occurs, the home position is erased. Perform homing again.
• This function is enabled in the cyclic synchronous position mode. This function is disabled during homing.
Precautions
• At factory setting, the software position limit is disabled.
• Change this function during servo off, homing mode, velocity mode, and torque mode. When the setting is changed during
servo-on in the position mode, [AL. 035 Command frequency error], [AL. 069 Command error], and [AL. 098 Software limit
warning] may occur.
Setting method
Servo parameter setting
Servo parameter
PT15
PT17
Related objects
The following table shows the related objects.
[Pr. PT15 Software position limit +] is used for [Max position limit (Obj. 607Dh: 02 h)]. [Pr. PT17 Software Position Limit -] is
used for [Min position limit (Obj. 607Dh: 01 h)].
Index
Sub
Object
607Dh
0
ARRAY
1
2
*1 When the set value of Min position limit is equal to or greater than the set value of Max position limit, the [Software position limit (607Dh)]
function is disabled.
4 APPLICABLE FUNCTIONS
104
4.5 Software position limit
Symbol
Name
LMP
Software position limit +
LMN
Software position limit -
Name
Software position limit
*1
Min position limit
*1
Max position limit
Outline
Set the software position limit + value.
Initial value: 0
Set software position limit - value.
Initial value: 0
Data
Access
Default
Type
U8
ro
2
I32
rw
0
I32
rw
0
Description
Number of entries
Specify the minimum value of the command position and
current position relative to the machine home position
(position address = 0). If the command position is below
the minimum value, it is clamped to the minimum value
which is used as the command position.
Specify the maximum value of the command position and
current position relative to the machine home position
(position address = 0). If the command position exceeds
the maximum value, it is clamped to the maximum value
which is used as the command position.
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