CL4-E CANopen/USB/Modbus RTU Online Manual

Limitation of the range of motion

The digital inputs can be used as limit switches, as is described in chapter Digital inputs, if you activate this function for the inputs. The controller also supports software limit switches.

Behavior upon reaching the limit switch

If a limit switch is passed over, bit 7 (Warning) is set in 6041h (statusword) and the action that is stored in object 3701h executed (see following table).

Value in object 3701h Description
-1 (factory settings) No reaction (e.g., to execute a homing operation)
1 Braking with slow down ramp (deceleration ramp depending on operating mode) and subsequent state change to Switch on disabled
2 Braking with quick stop ramp and subsequent state change to Switch on disabled
5 Braking with slow down ramp (deceleration ramp depending on operating mode) and subsequent state change to Quick stop active; control does not switch off and the motor remains energized. You can switch back to the Operation enabled state.
6 Braking with quick stop ramp and subsequent state change to Quick Stop Active; control does not switch off and the motor remains energized. You can switch back to the Operation enabled state.

As long as the limit switch is still active, travel in the direction of the limit switch is blocked; it is, however, possible to travel in the opposite direction.

Bit 7 (Warning) in 6041h is not deleted until the limit switch is deactivated and the limit switch position has been passed back over.

Software limit switches

The controller takes into account software limit switches (607Dh (Software Position Limit)). Target positions (607Ah) are limited by 607Dh; the absolute target position may not be larger than the limits in 607Dh. If the motor is located outside of the permissible range when setting up the limit switches, only travel commands in the direction of the permissible range are accepted.

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