The Effects Of Software Limits; Processing After An Alarm Occurs - YASKAWA SVC User Manual

6.3.4

The Effects of Software Limits

If a position command that exceeds the positive or negative software limit is executed with
software limits enabled, an alarm occurs and the MP3000 stops the axis. The way in which the
axis stops depends on the motion command, as shown in the following table.
Motion Commands
POSING
EX_POSING
FEED
STEP
EX_FEED
INTERPOLATE
LATCH
VELO
TRQ
PHASE
Setting Precautions
• Software limit settings are not valid for the ZRET command.
• If a software limit is detected after an external positioning signal is detected and during the
external positioning travel distance for an EX_POSING or EX_FEED operation, the axis starts
decelerating at the software limit position and stops beyond the software limit position.
6.3.5

Processing after an Alarm Occurs

This section describes the processing that occurs after an alarm.
Monitoring Alarms
An alarm will occur if the axis exceeds the position of a software limit. This alarm can be moni-
tored via the IL04 monitor parameter (Alarms).
Register
Address
IL04
Clearing a Software Limit Alarm
Use the following procedure to clear a software limit alarm.
1.
Set bit F (Clear Alarm) in the OW00 setting parameter to 1 (Clear Alarm ON).
This clears the alarm in IL04.
Register Address
OW00
2.
Use a FEED or STEP command to move in the opposite direction from the direction that
was used when the alarm occurred.
Motor
The axis starts decelerating before the software limit position
and stops at the software limit position.
Distribution stops at the software limit position.
The Servomotor performs an emergency stop.
The axis starts decelerating at the software limit position and
stops beyond the software limit position.
Name
Bit 3
Alarms
Bit 4
Name
Run Command Settings
A travel command in the opposite direction from
when the alarm occurred is accepted.
An alarm will occur again for any travel
command in the same direction.
Negative software limit
(lower limit)
Axis Stop Operation
Description
Positive Software Limit
Negative Software Limit
Description
Bit F Clear Alarm
Positive software limit
(upper limit)
6.3 Software Limits

6.3.4 The Effects of Software Limits

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