Software Limit Settings - YASKAWA E-V-MD Series User Manual

7.3.3 Software Limit Settings

Software limits are used to force the moving part of the machine to stop if it exceeds a preset limit value. If a
reference to a target position that exceeds a software limit is given during position control, the target position
in the SERVOPACK is clamped to the value of the software limit and positioning is completed. If the feedback
position exceeds a software limit during speed control or torque control, the same stopping method as for
overtravel is used to stop the motor.

(1) Software Limit Settings

The software limit function can be enabled or disabled.
Use the parameter Pn801.0 to enable the software limit function.
The software limit function can be enabled under the following conditions. Under all other circumstances, the
software limits will not be enabled even if a software limit is exceeded.
• The ZRET command has been executed.
• REFE = 1 using the POS_SET command.
Enable or disable the software limits using one of the following settings.
Parameter
n.0
n.1
PnA4A
n.2
n.3
(2) Software Limit Setting
Set software limits value in the forward and reverse directions.
Because the limit zone is set according to the forward or reverse direction, the reverse limit must be less than
the forward limit.
Forward Software Limit
PnA4C
Reverse Software Limit
PnA50
Description
Software limits disabled in both directions.
[factory setting]
Forward software limit enabled.
Reverse software limit enabled.
Software limits enabled in both directions.
Setting Range Setting Range
-1073741823 to
1 Reference Unit
1073741823
Setting Range Setting Range
-1073741823 to
1 Reference Unit
1073741823
7.3 Basic Functions Settings
When Enabled
Immediately
Position
Factory Setting Factory Setting
1073741823 Immediately
Position
Factory Setting Factory Setting
-1073741823 Immediately
Classification
Setup
Classifi-
cation
Setup
Classifi-
cation
Setup
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