Relative vs. Absolute Setting in the Position Profiling Configuration.
If you select Relative then all moves are relative and you can’t select absolute (POSA) moves in the move table. If you select Absolute for the positioning profiling configuration, then you can pick absolute or relative moves in the table and they act as expected. This is analogous to the Normal vs Continuous operation in the Compax drive, P93.
In Absolute mode, your software limits are at a fixed window of travel. All your moves, relative or absolute, must be within this window.
In Relative mode, you window of travel is always with respect to the current position. Therefore, the relative move commanded can never be further than the software limits.