AMD2000 Series - Servo Drive - User Manual
126
DS619-0-00-0019 - Rev 0
ANCA Motion
Error Limits
Error limits are applied similarly to the above constraints, but they influence the performance in an entirely
different fashion. Error limits are applied to monitored feedback variables, and so do NOT limit the demands
going to the servo controller. They operate via a combination of applied hard and soft limits (see Figure 10-18
and Figure 10-19 and the description below). When error limits are exceeded then C1D errors are asserted to
stop the drive from further motor movement.
To enable error limits, the Master Enable (P-0-0126 / 32894) must be set to 1 and individual bits corresponding to
desired limits in the Enable Flags (P-0-127 / 32895) must be configured. Refer to the SoE parameter reference
document for parameter details. The full set of settable constraints is listed below, and each of these constraints
is enabled by setting its associated bit to 1 (ON) in the Safety Constraints Enable Flag (P-0-0099 / 32867). The
values residing in the following list of IDN’s are relevant to setting Error Limits;
IDN
Label
P-0-0126 / 32894
Error Limits Master Enable
P-0-0127 / 32895
Error Limits Enable Flags
P-0-0128 / 32896
Array for Position Hard Limits [Minimum , Maximum]
P-0-0129 / 32897
Array for Position Soft Limits [Minimum , Maximum]
P-0-0131 / 32899
Rotary Joint with Limited Stroke Enable
P-0-0132 / 32900
Array for Location of End Stops on a Rotary Joint [CCW ,CW]
P-0-0133 / 32901
Array for Velocity Hard Limits [Minimum , Maximum]
P-0-0134 / 32902
Array for Acceleration Hard Limits [For +Velocity , For -Velocity]
Each bit of the Error Limits Enable Flag (IDN P-0-0127) and its associated constraint is listed below;
Bit
Label
0
Position Soft Minimum
1
Position Hard Minimum
2
Position Deadstop Minimum
3
Not used
4
Not used
5
Velocity Hard Minimum
6
Not used
7
Not used
8
Position Soft Maximum
9
Position Hard Maximum
10
Position Deadstop Maximum
11
Not used
12
Not used
13
Velocity Hard Maximum
14
Not used
15
Not used
