YASKAWA MP2000 Series User Manual page 348

12.4 Troubleshooting Motion Errors
12.4.2 Axis Alarm Details and Corrections
( 3 ) Bit 3: Positive Direction Software Limit and Bit 4: Negative Direction Software Limit
Detection Timing
Processing when
Alarm Occurs
Error and Cause
Correction
( 4 ) Bit 5: Servo OFF
Detection Timing
Processing when
Alarm Occurs
Error and Cause
Correction
( 5 ) Bit 6: Positioning Time Over
Detection Timing
Processing when
Alarm Occurs
Error and Cause
Correction
 The above check is not performed if the Positioning Completion Check Time (OW26) is set to 0.
( 6 ) Bit 8: Excessive Speed
Detection Timing
Processing when
Alarm Occurs
Error and Cause
Correction
12-30
• Enabled when using a motion command and detected by the position management section.
• The software limits are valid after a ZRET or ZSET command has been completed.
• The axis decelerates to a stop at the software limit.
• The Command Error Completed Status in the Motion Command Status (IW09, bit 3) will turn ON.
• A move command that exceeded a software limit of the machine was executed as follows:
A user program command exceeded the software limit.
The software limit was exceeded in manual operation.
• Check the program or manual operation.
• Then, after clearing the motion command code and resetting the alarm, use a return operation to eliminate
the software limit status. (Commands in the direction of the software limit will be disabled and an alarm
will occur again if one is executed.)
• Servo OFF status is detected when a move command is executed.
• The specified movement command will not be executed.
• The Command Error Completed Status in the Motion Command Status (IW09, bit 3) will turn ON.
• A move command (commands for positioning, external positioning, STEP operation, JOG operation, etc.)
was executed when the SERVOPACK was Servo OFF status.
• After clearing the motion command and resetting the alarm, turn the SERVOPACK to the Servo ON sta-
tus.
• Positioning was not completed within the time specified in OW26 (Positioning Completion Check
Time) after completing pulse distribution.
• The current command was ended forcibly.
• The Command Error Completed Status in the Motion Command Status (IW0,9 bit 3) will turn ON.
One of the following is possible.
• The position loop gain and speed loop gain are not set correctly, creating poor response. Or, there is oscil-
lation.
• The Positioning Completion Check Time (OW26) is too short.
• The capacity of the motor is insufficient for the machine load.
• Connections are not correct between the SERVOPACK and the motor.
Check the following.
• Check the SERVOPACK gain parameters.
• Check connections between the SERVOPACK and the motor.
• Check the motor capacity.
• Check the Positioning Completion Check Time (OW26).
• When the electronic gear is used and a move command is executed.
• The move command is not executed.
• The Command Error Completed Status in the Motion Command Status (IW09, bit 3) will turn ON.
• The speed (movement output for one scan in case of interpolation) exceeds the upper limit.
• Check the settings for speed reference, interpolation command movement per scan, and speed compensa-
tion.