PD6-E/-EB EtherCAT Online Manual

3701h Limit Switch Error Option Code

Function

If a limit switch is triggered, the limit switch position is stored internally, bit 7 ( Warning) in 6041h ( statusword) is set and the CiA 402 Power State Machine is set to the Quick Stop Active state. The action stored in this object is executed in the process. See chapter Limitation of the range of motion.

Object description

Index 3701h
Object name Limit Switch Error Option Code
Object Code VARIABLE
Data type INTEGER16
Savable yes, category: application
Access read / write
PDO mapping no
Allowed values
Preset value FFFFh
Firmware version FIR-v1748-B538662
Change history

Description

Value in object 3701h Description
-2 No reaction, discard the limit switch position
-1 (factory settings) No reaction (e. g., to execute a homing operation) except noting the limit switch position
0 Switch off driver without deceleration ramp; drive function blocked – motor can turn freely ( Switch on disabled state)
1 Braking with slow down ramp (deceleration ramp depending on operating mode) and subsequent state change to Switch on disabled
2 Braking with quick stop ramp and subsequent state change to Switch on disabled
5 Braking with slow down ramp (deceleration ramp depending on operating mode) and subsequent state change to Quick stop active; control does not switch off and the motor remains energized. You can switch back to the Operation enabled state.
6 Braking with quick stop ramp and subsequent state change to Quick Stop Active; control does not switch off and the motor remains energized. You can switch back to the Operation enabled state.
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