YASKAWA MP2100 Series User Manual page 413

13 Troubleshooting
13.3.2 Motion Error Details and Corrections
(4) Positive Overtravel and Negative Overtravel (IL
Detection Timing
• Overtravel is continuously monitored by the position management section during execution of a motion
command.
• Overtravel is detected when the OT signal in the direction of movement turns OFF.
Processing when Alarm Occurs
• The SERVOPACK performs stop processing.
The stop method and processing after stopping depends on the SERVOPACK parameter settings.
• The Command Execution End with Error bit (IW
ON.
• MP2100/MP2100M Processing
The command is canceled and the axis decelerates to a stop. Follow-up processing (each scan the
current position of the machine is adjusted to the reference position) is executed.
Error and Cause
• A move command was executed that exceeded the travel limit of the machine as follows:
A user program command exceeded the travel limit.
The travel limit was exceeded in manual operation.
• Overtravel signal malfunction.
Correction
• Check the overtravel signal.
• Check the program or manual operation.
• After clearing the motion command code and resetting the alarm, use a return operation to eliminate the
overtravel status. (Commands in the overtravel direction will be disabled and an alarm will occur again
if one is attempted.)
IMPORTANT
(5) Positive Soft Limit and Negative Soft Limit (IL
Detection Timing
• The soft limits are detected by the position management section during execution of a motion
command.
• The soft limits are valid after a Zero Point Return or Zero Point Setting has been completed.
Processing when Alarm Occurs
• The axis decelerates to a stop at the soft limit.
The Command Execution End with Error bit in Motion Command Status (IW
ON.
Error and Cause
• A move command was executed that exceeded a soft limit of the machine as follows:
A user program command exceeded the soft limit.
The soft limit was exceeded in manual operation.
Correction
• Check the program or manual operation.
• After clearing the motion command code and resetting the alarm, use a return operation to eliminate the
soft limit status. (Commands in the direction of the soft limit will be disabled and an alarm will occur
again if one is attempted.)
13-26
For a vertical axis, the following should be set at the SERVOPACK to avoid dropping and vibration at the
overtravel limit.
• An emergency deceleration stop
• Zero clamp status after the deceleration stop
04, bit 1 and bit 2)
09, bit 3) in Motion Command status will turn
04, bit 3 and bit 4)
09, bit 3) will turn