Software Position Limit [G] [Wg]; Setting Method - Mitsubishi Electric MELSERVO-J5 Series User Manual

4.8

Software position limit [G] [WG]

Specify the upper and lower limits of the command position and current position. If a command position exceeding the limit
position is specified, the command position is clamped at the limit position. Specify the limit position relative to the machine
home position (position address = 0).
The limit position includes [Home offset (Obj. 607Ch)]. Specify the limit position in consideration of the value in [Home offset
(Obj. 607Ch)]. Refer to [Pr. PT08 Homing position data] for details.
[AL. 098 Software position limit warning] occurs when clamp processing is being performed with the command position
exceeding the limit value. Operation can be resumed by giving a position command in the reverse direction of the reached
software position limit.
In the cyclic synchronous position mode (csp), stop the command when the software position limit is detected. When the
command position exceeds 32 bits (-2147483648 to 2147483647), [AL. 069 Command error] occurs. When the command
position exceeds the limit range by 30 bits (-536870912 to 536870911), [AL. 069 Command error] also occurs.
If [AL. 069 Command error] occurs, the home position is erased. Perform homing again.
• This function is enabled in the cyclic synchronous position mode and the profile position mode. This function
is disabled during homing.
Precautions
• At factory setting, the software position limit is disabled.
• [Pr. PT01.2 Unit for position data] can be used to change the unit to 10
• Change the settings of this function during servo off, homing mode, velocity mode, and torque mode. When the setting is
changed during servo-on in the position mode, [AL. 035 Command frequency error], [AL. 069 Command error], and [AL.
098 Software position limit warning] may occur.

Setting method

Servo parameter setting
Servo Symbol
parameter
PT15 LMP
PT17 LMN
The enabling/disabling conditions of the software position limit are shown in the table below.
[Pr. PT01.2] Conditions
[Pr. PT15] > [Pr. PT17]
3 (pulse) Enabled
2 (degree) Enabled
4 APPLICABLE FUNCTIONS
266
4.8 Software position limit [G] [WG]
Name
Software position limit +
Software position limit -
[Pr. PT15] < [Pr. PT17]
Disabled
Enabled
-3
[degree] or [pulse].
Outline
Set the software position limit + value.
Initial value: 0
Set software position limit - value.
Initial value: 0
[Pr. PT15] = [Pr. PT17]
Disabled
Disabled