ABB ACS880 N5700 Series, Firmware Manual, Page: 45 / 662

Parameter groups: 74 Position status & control words (page 440) and 86.2 Actual
position (page 463) .
Position limits
The control program has software limits ( 86.60 and 86.61 ) as well as support for
hardware limits ( 86.63 and 86.64 ).
If a limit is reached, parameter 74.10 will indicate the status Error Stop . To exit
this status, a reset command ( 74.21 ) must be given or the enable signal ( 74.20 )
cycled.
￭ Software limits
• For activation, it is required that bit 4 of 74.1 is set, and parameters 86.60 and
86.61 are set to different values. A completed homing routine or position preset
movement is necessary for non-absolute position feedback in order to set bit
4 of
74.1 .
• Software limits are not active in modulo operation.
• Axis speed and position are supervised during operation. If the axis is
approaching a limit, the axis will begin stopping before the limit, and stop
close to the limit. The deceleration and jerk rates are defined by
75.31 and 75.32
respectively.
• 75.31 and 75.32 must have higher values than the corresponding rates for the
base movement.
￭ Hardware limits
With limit switches of the normally-closed type, it is expected that the state of the
switch is true within the limits, and false outside the limits.
Settings and diagnostics
Parameter groups: 74 Position status & control words (page 440) and 86.2 Actual
position (page 463) .
Position latching
Position latching is a functionality in which the motor position is captured when
a triggering condition is fulfilled. The drive has two registers for latched positions
from encoders 1 and 2, and the values (in increments) are stored in parameters
86.53 and 86.54 respectively. These values correspond to parameters 86.4 and
86.5 at the moment of triggering. Bits 4 and 5 of 86.1 indicate whether latching
has occurred.
There are two latching modes, hardware and software latching. In hardware
latching, a digital input of the FEN-xx encoder interface module (or encoder Z-pulse)
is used for triggering, and the position value received from the encoder becomes
Position control program features 45