Epsilon
Torque Limit Enable
This input function, when active, causes the Torque Command to be limited to the value of the Torque Limit parameter.
Travel Limit + and -
The + and - Travel Limit input functions will stop motion in the direction indicated by the input function name using the Travel Limit Deceleration rate. These inputs will function regardless of how the motion was initiated (i.e., index, jog or home).
When an axis is stopped by a Travel Limit function, it will maintain position until it receives a motion command (i.e., jog) that moves it in the opposite direction of the active Travel Limit.
For example, the Jog + input could be used to move off the Travel Limit
Output Functions
Absolute Position Valid
This output is activated when either the Define Home input function is activated or the End of Home output function is activated. This output is deactivated if the drive is rebooted, an encoder fault occurs, the device is powered down, or a home is reinitiated.
At Velocity
This output function is active whenever the motor is at the peak commanded velocity of a home, jog or index. It activates when the acceleration ramp completes and deactivates when the deceleration ramp begins.
Brake
The Brake output function must be used to control the motor holding brake. If the Brake output function is off, the brake is mechanically engaged. When the brake is engaged, the diagnostic display on the front of the drive will display a “b”.
Drive OK
This output function is active whenever no fault condition exists. Travel limits and the Drive Enable have no effect on this output function.
End of Chaining Count
This output function will activate when the index chain count is complete or the index chain has repeated itself the specified number of times. This output function will remain active until another chain is started.
End of Home
This output function is activated when a home cycle is completed successfully (Home Limit distance not hit). When this output function is activated, the Absolute Position Valid output function is activated. This output function is deactivated when any Index, Home or Jog is initiated.
End of Index
This output function is activated when any index is completed. This output function is deactivated when any Home, Jog or Index is initiated.
End of Index Count
This output function will activate when an index repeats itself the number of times specified in the index count parameter. It will remain active until the next index is initiated. If "Repeat Forever" is selected for the index count, this function will never activate.
End of Index Motion
This output function will activate when the index motion stops (prior to dwell). It will remain active until another index is initiated or the next index in the chain begins. If two indexes are chained together without a dwell in between (dwell at default of 0 ms), then this output function will be active for 400 µs.
Fault
This output function is active whenever a drive fault condition exists.
Foldback Active
This output function is active when the drive is limiting motor current. If the RMS Foldback value exceeds 100 percent of the continuous rating, the current foldback circuit will limit the current delivered to the motor to 80 percent of the continuous rating.
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