4.4
Limit Switch Hardware and Software
The limit switches are activated via SERCSET bit 0 (even / uneven) or IDNP 3015. If bit 0
is set in SERCSET, the drive configures WMASK independently.
The INxMODEs must be set correctly, i.e. IN3MODE to 2 and IN4MODE to 3.
If the servo amplifier in the limit switch is switched on from standstill, an IDN 99
(CLRFAULT) is issued by the control system in phase 2 during the phase run-up (gene-
rally without any user input). This causes the error to be deleted and then not issued
again as long as the motor in the limit switch is at standstill, since the bit for the corre-
sponding limit switch is reset internally in WMASK. When the motor is moved out of the
limit switch, either manually or via sercos
®
, WMASK is automatically set back to the cor-
rect value, meaning that errors are again issued the next time the limit switch is actuated.
Even if this setting from WMASK were to be saved, it is only the parameter SERCSET
that is important!
This handling should ensure that the motor can be moved out of the limit switch, instead
of having to be moved by hand. Since one direction of rotation is locked, it is only possi-
ble to move out of the limit switch and not further into it.
l
Positive position limit IDN 49
l
Negative position limit IDN 50
l
The software limit switches are activated with IDN 55 (position polarities) bit 4= 0x10
= 16.
IDN 55 is also mapped in SERCSET, meaning that setting bit 8 performs the same
function.
Should limit switches be absolutely necessary due to the parameterization in the drive,
these are automatically set to the largest possible range. However, this range can be
limited.
The software limit switches (SWEs) are not active until a reference run has been
performed or reference point defined.
106
sercos
®
for S300/S700
Appendix
04/2016
Kollmorgen
