Index

Sub Index

Name

Data Type

Acc.

Pdo Map.

NVM

Value range

Default value

Units

0x2609

0x00

Negative switch limit

UINT16

RW

No

Yes

0 to 4

0

-

These parameters contains the GPI attached to  internal demand generator. 

If the value is 0, it means that there isn't an attached GPI to the functionality, otherwise the value indicates what GPI is attached. When a GPI is mapped to this function and its value is "1" the movements to the direction where is attached are not allowed. That means that the internal generator will force the demand that don't allow to move the motor into that direction.

Examples

If a motor is moving into the negative direction and the negative switch limit is "1":

  • In any of the position modes, the drive will generate a position demand equal to the actual position, so movement is not generated (the position is held).
  • In any of the velocity modes, the drive will generate a velocity demand equal to 0 (the position is held).
  • In any of the current modes, the drive will generate a current demand equal to 0 (the position is not held because torque is not applied).
  • In voltage mode, the drive will generate a voltage demand equal to 0 (the position is not held because torque is not applied).