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8.1. Software Position Limits
The travel range of the device is limited by the Minimum Position and Maximum Position settings.
Setting a peripheral ID will configure these settings to match the physical travel range. If a
customized range is desired, it can be changed by configuring the limit.min (T:106) and
limit.max (T:44) settings to appropriate values.
Minimum Position
When the Current Position is less than the Minimum Position value, the device cannot
move in the negative direction (towards the motor).
Maximum Position
When the Current Position is greater than the Maximum Position value, the device cannot
move in the positive direction (away from the motor).
8.2. Movement Speed
The movement speed of the device depends on device status and various speed settings. If the
device has not been initialized by the home (T:1) command or by moving towards the home end
of the device, movement speed will be constrained to fail-safe values. The home status of the
device can be determined by reading the limit.sensor.triggered (T:53) setting (the binary
command additionally requires a value of 103).
Movement speed of the device is specified below:
move vel (T:22)
The device will move at the specified speed regardless of home status.
Knob movement in Velocity Mode
The device will move at the specified speed regardless of home status.
The speed is specified by the knob.speedprofile (T:112) and knob.maxspeed (T:111)
settings.
Other movement commands - when the device has not been homed
The device will move at the slower of the maxspeed (T:42) and
limit.approach.maxspeed (T:41) settings.
Other movement commands - when the device has been homed
The device will move at the speed specified by the maxspeed (T:42) setting.
ZABER TECHNOLOGIES INC.
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