YASKAWA MP210 Series User Manual page 260

6 Maintenance, Inspection, and Troubleshooting
6.7.2 Motion Error Details and Corrections
(3) Bit 1: Positive Direction Overtravel and Bit 2: Negative Direction Overtravel
Detection Timing
Processing when
Alarm Occurs
Error and Cause
Correction
IMPORTANT
(4) Bit 3: Positive Direction Software Limit and Bit 4: Negative Direction Software Limit
Detection Timing
Processing when
Alarm Occurs
Error and Cause
Correction
(5) Bit 5: Servo OFF
Detection Timing
Processing when
Alarm Occurs
Error and Cause
Correction
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• Overtravel is continuously monitored by the position management section during execution of a
motion command.
• Overtravel is detected when the overtravel signal in the direction of movement turns OFF.
• Stop processing of the SERVOPACK
The stop method and processing after stopping depends on the SERVOPACK parameter settings.
• The Command Error Completed Status in the Motion Command Status (IW09, bit 3) will turn
ON.
• Processing of MP2100/MP2100M
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.
One of the following is possible.
• A move command that exceeded the travel limit of the machine was executed as follows:
A user program command exceeded the travel limit.
The software limit was exceeded in manual operation.
• Overtravel signal malfunction.
• Check the following.
Check the overtravel signal.
Check the program or manual operation.
• Then, after clearing the motion command and resetting the alarm, use a return operation to elimi-
nate the overtravel status. Commands in the overtravel direction will be disabled and an alarm will
occur again if one is executed.
• 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
• 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 and resetting the alarm, use a return operation to elimi-
nate 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 opera-
tion, 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 status.