Software Limits; Setting To Enable/Disable Software Limits; Setting The Software Limits; Software Limit Check For References - YASKAWA SGD7S-****20A Series Product Manual

6.6

Software Limits

You can set limits in the software for machine movement that do not use the overtravel signals
(P-OT and N-OT). If a software limit is exceeded, an emergency stop will be executed in the
same way as it is for overtravel.
You must make the following settings to use the software limits.
• You must enable the software limit function.
• You must set the software limits.
6.6.1

Setting to Enable/Disable Software Limits

You can use Pn801= n.X (Software Limit Selection) to enable and disable the software
limit function. One of following commands must be executed to define the origin of the machine
coordinate system before the software limits will operate. Otherwise, the software limit function
will not operate even if a software limit is exceeded.
• The ZRET command has been executed.
• The POS_SET command has been executed with REFE set to 1.
• If an absolute encoder is used, the SENS_ON (Turn ON Sensor) command must have been
completed.
Parameter
n.
n.
Pn801
n.
n.
(default setting)
6.6.2

Setting the Software Limits

Software limits are set in both the forward and reverse directions.
The reverse software limit must be less than the forward software limit to set a limit in each
direction.
Forward Software Limit
Pn804
-1,073,741,823 to
Reverse Software Limit
Pn806
-1,073,741,823 to
6.6.3

Software Limit Check for References

You can enable or disable software limit checks for commands that have target position refer-
ences, such as POSING or INTERPOLATE. If the target position exceeds a software limit, a
deceleration stop will be performed from the position set as the software limit.
Parameter
n.
(default setting)
Pn801
n.
Enable both forward and reverse soft-

0
ware limits.

1 Disable forward software limit.

2 Disable reverse software limit.

3
Disable both forward and reverse soft-
ware limits.
Setting Range Setting Unit
1 reference unit
1,073,741,823
Setting Range Setting Unit
1 reference unit
1,073,741,823
 
0
Do not perform software limit checks for
references.
Perform software limit checks for refer-
 
1
ences.

6.6.1 Setting to Enable/Disable Software Limits

Meaning When Enabled
Default Setting
1,073,741,823
Default Setting
-1,073,741,823
Meaning When Enabled

6.6 Software Limits

Classification
Immediately Setup
Position
When Enabled Classification
Immediately Setup
Position
When Enabled Classification
Immediately Setup
Classification
Immediately Setup
6
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