YASKAWA JEPMC-MP2300-Y Series User Manual page 523

10.3.2 Effects of the Software Limit Function
If a position command that exceeds the positive and negative software limit is executed with the
software limit function enabled, an alarm will occur and the MP2300 will stop the axis. The type that
the axis stops depends on the motion command as shown below.
10.3.3 Processing after an Alarm Occurs
( 1 ) Monitoring Alarms
If an axis exceeds a software limit, a Positive/Negative Soft Limit (Positive/Negative Software
Limit) alarm will occur. This alarm can be monitored in the Alarm monitoring parameter (IL
( 2 ) Clearing Software Limit Alarms
Clear software limit alarms using the procedure below.
Motion Command
POSING
EX_POSING
FEED
STEP
INTERPOLATE
ENDOF_INTERPOLATE
LATCH
VELO
TRQ
PHASE
The software limit settings is disabled for ZRET operation.
Name Register Number
Alarm
IL 04
1.
Set the Alarm Clear bit to 1 in the RUN Commands (OW
alarm.
The alarm (IL 04) will be cleared.
Name
RUN Commands
2.
Use the FEED or STEP command to return past the software limit.
Servo-
motor
Software Limit,
lower limit
Stop Operation
The axis will start decelerating before the software limit position and stop
at the software limit position.
The pulse distribution command will stop executing at the software limit
position. The Servo will perform an emergency stop.
The axis will start decelerating the software limit position and stop
beyond the software limit position.
Bit 3: Positive Software Limit
Bit 4: Negative Software Limit
Register Number
OW 00 Bit F:
Commands will be received in the return direction.
An alarm will occur again if a command is
given in the direction of the software limit
that was activated.
10.3 Software Limit Function
Meaning
00 bit F) to clear the
Meaning
Clear Alarm
Software Limit,
upper limit
04).
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