Setup and Reference Guide - Kollmorgen
Setup and Reference Guide - Kollmorgen
Setup and Reference Guide - Kollmorgen
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PLIM<br />
A switch mode variable that controls operation of the software position limits PMAX <strong>and</strong> PMIN:<br />
0 = Software position limits disabled<br />
1 = Drive disables when a soft position limit is exceeded (Caution! Motor may coast)<br />
2 = drive decelerates to a stop at DECSTOP deceleration when a soft position limit is exceeded. Drive<br />
remains enabled <strong>and</strong> only allows motion in opposite direction.<br />
Firmware Versions: 3.1.0 <strong>and</strong> later Type: switch (R/W) Units: N/A<br />
Range: 0 to 2 Default: 0 EEPROM: Yes<br />
Opmodes: All Drive Status: EN/DIS<br />
PMAX<br />
Sets the maximum allowable position for the motor shaft. Position is expressed in counts <strong>and</strong> is read using<br />
PFB. If position exceeds PMAX (PFB > PMAX), an overtravel fault is generated. A fault is generated only if<br />
PLIM is set to a nonzero value.<br />
Firmware Versions: 3.1.0 <strong>and</strong> later Type: variable (R/W) Units: counts<br />
Range: -2,000,000,000 to +2,000,000,000 Default: 2,000,000,000 EEPROM: Yes<br />
Opmodes: All Drive Status: EN/DIS<br />
PMIN<br />
Sets the minimum allowable position for the motor shaft. Position is expressed in counts <strong>and</strong> is read using PFB.<br />
If position goes below PMIN (PFB < PMIN), an overtravel fault is generated. A fault is generated only if PLIM<br />
is set to a nonzero value.<br />
Firmware Versions: 3.1.0 <strong>and</strong> later Type: variable (R/W) Units: counts<br />
Range: -2,000,000,000 to +2,000,000,000 Default: 2,000,000,000 EEPROM: Yes<br />
Opmodes: All Drive Status: EN/DIS<br />
PRD<br />
Displays the absolute position feedback of the hardware feedback device (for both resolver <strong>and</strong> encoder based<br />
systems). PRD increments from 0 to 65,535 throughout the course of one mechanical motor shaft revolution<br />
(360 degrees). The range of PRD does not change. Its resolution for resolver feedback systems is dependent<br />
upon the value of RDRES:<br />
RDRES = 12, resolution of PRD = 16.<br />
RDRES = 14, resolution of PRD = 4.<br />
RDRES = 16, resolution of PRD = 1.<br />
For encoder-based systems, until the encoder has been initialized, PRD is uninitialized <strong>and</strong> its value is not<br />
useful or meaningful. For information on encoder initialization requirements according to the type of encoder,<br />
see MENCTYPE, ENCINIT, <strong>and</strong> ENCINITST.<br />
Firmware Versions: All Type: variable (R) Units: counts<br />
Range: 0 to 65,535 Default: N/A EEPROM: No<br />
Opmodes: All Drive Status: EN/DIS<br />
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