Hardware End Limits; Positioning Mode; Positioning Types - Danfoss iC7 Motion Series Application Manual

Application Guide | iC7 Series Motion
In control modes such as speed, torque, and gear control, where the final target is unknown, there is no action until reaching the
configured limits. The action when a software position limit is reached is defined by parameter 5.13.5.6 Position Limit Action. The
available actions are:
Table 4: Position limit actions
Action Description
Disabled The software position limits are ignored.
Warning The drive issues a warning.
Fault The drive coasts the motor and issues a fault. The fault must be reset before operation can be resumed.

Hardware End Limits

2.12.1.9
It is possible to connect hardware end limit switches to the drive and configure the reaction of the drive when a hardware end limit
switch is activated. Hardware end limits are active in all control modes and when a limit switch is activated, movement is only possible in
the direction away from the limit switch.
Note:
When the reaction triggers a fault, movement is only possible after resetting the fault.
Digital inputs for connecting hardware end limit switches are selected with parameters 5.13.5.7 Negative Limit Switch Input and 5.13.5.8
Positive Limit Switch Input. The drive reaction when 1 of the hardware limit switches activates is selected with parameter 5.13.5.9 Limit
Switch Action. The following actions are available:
No action
l
Ramp to stop with warning (position control remains active with zero speed after ramp down)
l
Ramp to stop and coast with warning (coast after ramp down)
l
Ramp to stop with fault (fault after ramp down)
l
Quick stop with warning (position control remains active with zero speed after quick stop)
l
Quick stop and coast with warning (coast after quick stop)
l
Quick stop with fault (fault after quick stop)
l
Coast with warning
l
Fault (coast)
l
When the drive hits a limit switch while executing a homing procedure, the selected action is ignored. Instead, the drive reverses
direction and searches for the home sensor in the opposite direction.

Positioning Mode

2.12.2

Positioning Types

2.12.2.1
The drive offers 3 basic positioning types: Absolute, Relative, and Touch Probe. The difference between them is which reference point is
used for the positioning target.
Table 5: Positioning Types
Positioning type
Absolute positioning
Relative positioning
Touch Probe positioning
28
| © 2023.11
Description
Target position is relative to the defined zero point of the machine.
Target position is relative to the actual position of the machine.
Target position is relative to the position of a signal on a digital input.
AB318753549016en-000301 / 136R0284