4. PARAMETERS FOR POSITIONING CONTROL
4 − 5
4.2.2 Upper stroke limit value/lower stroke limit value
These are the settings for the upper limit value and lower limit value in the travel
range of the mechanical system.
(Travel range of the machine)
Lower stroke limit U
er stroke limit
Limit switch for
emergency stop
FLSRLS
Fig. 4.1 Travel Range When Setting the Upper Stroke Limit Value and Lower Stroke Limit Value
(1) Stroke limit range check
The stroke limit range check is executed when the operations indicated in the
table below are started or while they are in progress.
Operation Started
Check Executed/
Not Executed
Remarks
Positioning control Executed
• When positioning is started, it is checked whether the feed current value
is within the stroke limit range or not. If it outside the range, an error
occurs (error code 106) and positioning is not executed.
• When circular interpolation is in progress, if the interpolation path goes
outside the stroke limit range, an error occurs (error codes: 207, 208)
and axis motion decelerates to a stop.
Fixed-pitch feed control Executed 
Speed control (I)
Speed control (II)
Not executed
• The current value becomes "0", and motion continues until the external
limit signal (FLS, RLS, STOP) is received.
Speed/position switching control
(including restart)
Executed • The check is executed after the switch to position control.
JOG operation Executed
• If the current value goes outside the stroke limit range, motion stops.
Travel in the direction that returns the axis into the stroke range is
possible.
Speed switching control Executed 
Constant-speed control Executed 
Position follow-up control Executed
• While positioning is in progress, it is checked whether the feed current
value is within the stroke limit range. If it outside the range, an error
occurs (error code 106) and positioning is not executed.
Manual pulse generator operation Executed • If the current value goes outside the stroke limit range, motion stops.
POINTS
(1) Besides setting the stroke limit upper limit value/lower limit value in the
fixed parameters, the stroke limit range can also be set by using the
external limit signals (FLS, RLS).
(2) When the external limit signal goes OFF, a deceleration stop is executed.
The time taken to decelerate to a stop can be set by setting the
"deceleration time" and "rapid stop deceleration time" in the parameter
block.
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