SFLSD – Soft-limit Stop Mode
Sets/returns the stopping method used when reaching a soft-limit.
Applies to: CMD-4CR, CMD-4EX-SA, Firmware V 2.01+
ASCII SFLSD[axis]
Syntax:
Read:
SFLSD[axis]
|
Where: [axis] is set to X, Y, Z, U |
Write:
SFLSD[axis]=[0 or 1]
|
Where: [axis] is set to X, Y, Z, U Valid values for SFLSD: 0 (Immediate stop), 1 (Decelerate and stop) |
Reply:
Command is accepted and executed
Read:
Returns 0 in Immediate stop mode, 1 when Decelerate and stop mode
Write:
OK
Command cannot be processed
An error message is returned. See Error Codes
Example:
Read:
SFLSDY * Returns stopping method used for the Y axis
Write:
SFLSDX=1 * Sets stopping method used for X axis to decelerate and stop.
Notes:
- When set to decelerate and stop the motor stops at the deceleration rate set with the DEC once the soft-limit is reached.
- 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.