Yes. This feature was added in firmware version 2.3.
Here are the release notes:
Soft end-of-travel limits on IE, IH and IM ONLY
To configure the operating range for the system, two new system variables have been added. They are accessed as follows: -
R(L+) - Reports the current positive motion soft limit distance as ±nnnnnnnnnn
R(L-) - Reports the current negative motion soft limit distance as ±nnnnnnnnnn
W(L+,±nnnnnnnnnn) - Changes the current positive motion soft limit distance
W(L-,±nnnnnnnnnn) - Changes the current negative motion soft limit distance
The distance can be programmed to be between +2147483647 and -2147483648 (+/-231). The default distance setting is 0. These settings are stored in non-volatile drive memory when the save (SV) command is executed. The variables can be listed and changed in a user program but there is no provision for IF or TR tests as these are configuration parameters.
To enable/disable soft and hard end-of-travel limits, you should use the LIMITS command.
LIMITS(mask,type,mode,LD)
where: -
Mask enables or disables the active end-of-travel limits
Type specifies whether the hard limits are normally open or closed switches
Mode now determines which type of limits (hard or soft or both) are employed
and also the action to taken when a limit is reached.
LD refers to the limit deceleration rate when a limit is activated.
Mask (enabling/disabling limits) controls both the hard and soft limits: -
Mask 0: Enable Hard and Soft Limits (default setting)
Mask 1: Disable Hard and Soft Limit +
Mask 2: Disable Hard and Soft Limit
Mask 3: Disable Hard and Soft + and Limit
Note: When the mode is 0 or 1 there are no soft limits and likewise when the mode is 2 or 3 there are no hard limits, see below.
Type (NO or NC limit switches) in the LIMITS command will remain the same. This parameter is not relevant to soft limits.
Mode now has four new settings: -
0 stop program execution if HARD limit reached and run FAULT routine (if programmed).
1 stop motion if HARD limit reached but continue program execution.
2 stop program execution if SOFT limit reached and run FAULT routine (if programmed).
3 stop motion if SOFT limit reached but continue program execution.
4 stop program execution if HARD or SOFT limit reached and run FAULT routine (if programmed).
5 stop motion if HARD or SOFT limit reached but continue program execution.
Modes 0 and 1 are for hard limits only and are compatible with previous firmware releases.
Modes 2 and 3 are for soft limits only. These modes will be used in applications where the hard limit inputs can be employed as general inputs. The soft limits provide for the over-travel protection.
Modes 4 and 5 enable both hard and soft limits simultaneously.
LD (Limit Deceleration) parameter stays the same and is used as both the soft and hard limit deceleration rate.