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Stop method at stroke limit detection
When LSP (Forward rotation stroke end)/LSN (Reverse rotation stroke end) or FLS (Upper stroke limit)/RLS (Lower stroke
limit) is turned off, the servo motor stops with the stop method shown in this section.
In the cyclic synchronous position mode (csp), stop the command when the stroke end is detected. When the command
position exceeds the position where the stroke end is detected by 30 bits, [AL. 069 Command error] occurs. If [AL. 069
Command error] occurs, the home position is erased. Perform homing again.
Page 17 Homing mode (hm)
Operation status
During rotation at constant speed
Servo motor speed
0 r/min
LSP
ON
or
OFF
LSN
When the stroke limit signal is detected, perform the following return methods.
Control mode
Cyclic synchronous position mode
Cyclic synchronous velocity mode
Servo parameter list
The settings related to the stroke limit function can be performed directly with the servo parameters. Perform the settings as
required.
Servo parameter
PC19.0
PD01.2
PD03.0-1
PD04.0-1
PD05.0-1
PD41.2
PD41.3
PL08.2
3 BASIC FUNCTION
52
3.3 Stroke limit function
During deceleration to a stop
Amount of
droop pulses
Servo motor speed
LSP
or
LSN
Return method
After following up [Target position (Obj. 607Ah)] with [Position actual value (Obj. 6061h)], input the position
command of the direction opposite to the limit.
Make sure that Bit 12 of [Statusword (Obj. 6041h)] is 0 before inputting the position command.
Input the speed command of the direction opposite to the limit to [Target velocity (Obj. 60FFh)].
Make sure that Bit 12 of [Statusword (Obj. 6041h)] is 0 before inputting the speed command.
Symbol
Name
*COP6
[AL. 099 Stroke limit warning]
selection
*DIA1
Input signal automatic ON
selection
*DI1
Device selection
*DI2
Device selection
*DI3
Device selection
*DOP4
Limit switch enabled status
selection
*DOP4
Sensor input method selection
*LIT3
Magnetic pole detection - Stroke
limit enabled/disabled selection
Amount of
droop pulses
0 r/min
ON
OFF
Outline
Enable or disable [AL. 099 Stroke limit warning].
When "Disabled" is selected, [AL. 099 Stroke limit warning] does not
occur when LSP (Forward rotation stroke end) or LSN (Reverse
rotation stroke end) is off, but the stroke limit does still stop the
operation.
0: Enabled (initial value)
1: Disabled
LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke
end) can be set to "Disabled" (Use for an external input signal.) or
"Enabled" (Automatic on).
Initial value: 0h (Disabled (Use for an external input signal.))
Any input device can be assigned to the CN3-2 pin.
Initial value: 0Ah (LSP (Forward rotation stroke end))
Any input device can be assigned to the CN3-12 pin.
Initial value: 0Bh (LSN (Reverse rotation stroke end))
Any input device can be assigned to the CN3-19 pin.
Initial value: 22h (DOG (Proximity dog))
0: Limit switch always enabled (initial value)
1: Enabled only for homing mode
0: Input from servo amplifier (LSP/LSN/DOG) (initial value)
1: Input from controller (C_FLS/C_RLS/C_DOG)
Select whether to enable or disable the stroke limit function during
magnetic pole detection.
0: Enabled (initial value)
1: Disabled
Remark
The servo motor stops after having
traveled for the droop pulses.
Perform homing again.
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