YASKAWA MP2100 Series User Manual page 187

7 Motion Parameters
7.2.3 Motion Monitoring Parameter Details
(4) Alarm
IL 04
7-32
Alarm
IL 04
Bit 0 Servo Driver Error
This bit turns ON when there is an alarm in the SERVOPACK for MECHATROLINK
communication. The content of the alarm can be confirmed using the Servo Alarm
Code (monitoring parameter IW
OFF: No Servo Driver alarm
ON: Servo Driver alarm occurred
Bit 1
Positive Overtravel
This bit turns ON when the positive overtravel signal is input and a move command is
executed in the positive direction. For details, refer to 14.2 Overtravel Function.
OFF: No positive overtravel
ON: Positive overtravel occurred
Bit 2 Negative Overtravel
This bit turns ON when the negative overtravel signal is input and a move command is
executed in the negative direction. For details, refer to 14.2 Overtravel Function.
OFF: No negative overtravel
ON: Negative overtravel occurred
Bit 3 Positive Soft Limit (Positive Software Limit)
This bit turns ON if a move command that exceeds the positive software limit is exe-
cuted with the following conditions:
• Zero point return has been completed
• The positive software limit function is enabled
• A finite length axis is selected.
For details, refer to 14.3 Software Limit Function.
OFF: In positive software limit range
ON: Outside positive software limit range
Bit 4
Negative Soft Limit (Negative Software Limit)
This bit turns ON if a move command that exceeds the negative software limit is exe-
cuted with the following conditions:
• Zero point return has been completed
• The negative software limit function is enabled
• A finite length axis is selected.
For details, refer to 14.3 Software Limit Function.
OFF: In negative software limit range
ON: Outside negative software limit range
Bit 5 Servo OFF
This bit turns ON when a move command is executed during Servo OFF status.
OFF: Servo ON
ON: Servo OFF
Bit 6 Positioning Time Over
This bit turns ON when positioning is not completed within the specified time after the
end of pulse distribution. The time is set for the Position Complete Timeout (setting
parameter OW
OFF: No timeout
ON: Timeout occurred
Bit 7 Excessive Positioning Moving Amount
This bit turns ON when a moving amount is specified that exceeds the setting range for
the positioning moving amount.
OFF: Moving amount normal
ON: Excessive moving amount
Range
−
2D).
26).
Unit
−