- Parker Compact Servo Controller User Guide

Configuration
Limit switch operation
89
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8.2.8 Limit switch operation
P217 ="0" Operating mode without end initiators
P217 ="1" Operating mode with two end initiators
2 initiators are required.
The displacement area is limited by the initiators attached at both ends of it. When
one of the end initiators is activated, an error message appears, the drive is
decelerated using P10; this does not apply to the "Find machine zero" function.
Subsequently, the limit switches can be deactivated with Hand+ or Hand-.
When P212 = 0 (or = "2"), the initiators are used as reversing initiators during "Find
machine zero".
In other machine zero modes, the initiators can be switched to end initiators by
P217 via bit 0="1".
Bit 1
14
(P217) = 0: limit switches are not monitored during reference travel.
= 1: (P217= 3) limit switches are monitored during "Find machine
zero" (when P212<>0 and P212<>2).
The operating mode bit 1 (P217)=1 assumes that 3 initiators are connected. Here it
is not possible to use one of the two end initiators as a machine zero initiator.
Regardless of the search direction P213, both limit switches are monitored.
When one of the two limit switches is reached, COMPAX responds with an
emergency stop.
Then the following applies: move out of the danger zone using Hand+/-, then
acknowledge.
In such cases, the "MZ approached" output is not set.
Bit 2 (P217) = 0: function corresponding to Bit 0 and Bit 1.
= 1: (P217= 5) after activation of a limit switch, the drive is braked
with P10 (standard), however travel movements are still
possible afterwards using POSA and POSR.
The operating mode bit 1 (P217)=5 assumes that 3 initiators are connected. Here it
is not possible to use one of the two end initiators as a machine zero initiator.
Initiator I1 is assigned the direction of motor rotation using P216.
P216: ="0": initiator I1 is approached with the clockwise rotating motor.
P216: ="1": initiator I1 is approached with the anti-clockwise rotating motor.
Clockwise rotation defined when looking at the motor shaft.
Move to a limit switch using Hand+ (when P215="0"); an error message appears in
the COMPAX display:
♦
error 50: I1 has been activated; i.e. P216="0"
♦
error 51: I2 has been activated; i.e. P216="1"
This allocation only applies if P215="0"; if P215="1" the allocation is
reversed.
When operating with the reversing initiators, but no limit switches, an error
message will not appear. You then have two options:
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Bit-counting begins with Bit 0.
Limit switch
monitoring
during the
reference travel
Response when the
limit switch is
reached:
Limit switch
monitoring
without locking
the movement
P216:
specifying the
limit switch
position
Setting aid: