SoftwareLimitLow Parameter

Use the SoftwareLimitLow parameter to set the software limit lower boundary. The value specified for this parameter corresponds to the minimum position to which the axis can travel before it violates the software limit. To configure the behavior of the controller when the axis violates the software limit, configure the SoftwareLimitSetup Parameter and the CCW Software Limit bit in the FaultMask Parameter, FaultMaskDecel Parameter, and FaultMaskDisable Parameter.

The values of the software limit boundaries are always relative to the home position, which is normally at 0.0. When you use the HomePositionSet Parameter, the application shows a value that is different from 0.0 at the home position, but the configuration of the software limit boundaries stays relative to a zero home position.

To Calculate the Values of the Software Limit BOUNDARIES

1. Move the axis to the lower boundary. Examine the value of the Position Command or Position Feedback.
2. Subtract the value of the HomePositionSet parameter from the value that you examined in the previous step. If the ReverseMotionDirection Parameter is set to a value of 1, multiply this value by -1. Use this value for the SoftwareLimitLow parameter.
3. Move the axis to the upper boundary. Examine the value of the Position Command or Position Feedback.
4. Subtract the value of the HomePositionSet parameter from the value that you examined in the previous step. If the ReverseMotionDirection Parameter is set to a value of 1, multiply this value by -1. Use this value for the SoftwareLimitHigh parameter.

The SoftwareLimitLow parameter must always have a lower numbered value than the SoftwareLimitHigh Parameter. The arithmetic sign of the software limit parameters is determined by the encoder direction. The following example shows you how to set the SoftwareLimitLow and the SoftwareLimitHigh parameters.