SFL – Soft-limit Enable/Disable
Enables/disables the soft-limit function of an axis, or returns the current set value. The soft-limits can be used in a system where physical limits are impossible or for setting operation limits within the allowable mechanical stroke limits.
Applies to: CMD-4CR, CMD-4EX-SA, Firmware V 2.01+
ASCII SFL[axis]
Syntax:
Read:
SFL[axis]
|
Where: [axis] is set to X, Y, Z, U |
Write:
SFL[axis]=[0 or 1]
|
Where: [axis] is set to X, Y, Z, U [0 or 1] Valid values for SFL: 0 (disabled), 1 (enabled) |
Reply:
Command is accepted and executed
Read:
Returns 0 when disabled, 1 when enabled
Write:
OK
Command cannot be processed
An error message is returned. See Error Codes
Example:
Read:
SFLY * Returns the status of the Y axis soft-limit function setting
Write:
SFLX=1 * Enables soft-limit function for X axis
Notes:
- Before enabling soft-limits, check that softLimitPositive SFLP[axis] and softLimitNegative SFLN[axis] are different and that the positive value is greater than the negative value. If not, an error is returned.
- Soft-limits act similarly to limit switches. While the controller will command a stop when a soft-limit is encountered, it is possible to overrun the soft limit. The amount the system can overrun the limit depends on the speed the motor is moving at when the soft-limit is encountered, and the mode selected for stopping the motor (SFLSD[axis]). As such, a safety buffer should be included in any any soft-limit settings.