10.3
Software Limit Function
10-13
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.

The software limit settings is disabled for ZRET operation.
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

04).
( 2 ) Clearing Software Limit Alarms
Clear software limit alarms using the procedure below.
1.
Set the Alarm Clear bit to 1 in the RUN Commands (OW

00 bit F) to clear the
alarm.
The alarm (IL

04) will be cleared.
2.
Use the FEED or STEP command to return past the software limit.
Motion Command Stop Operation
POSING
EX_POSING
FEED
STEP
The axis will start decelerating before the software limit position and stop
at the software limit position.
INTERPOLATE
ENDOF_INTERPOLATE
LATCH
The pulse distribution command will stop executing at the software limit
position. The Servo will perform an emergency stop.
VELO
TRQ
PHASE
The axis will start decelerating the software limit position and stop
beyond the software limit position.
Name Register Number Meaning
Alarm
IL

04
Bit 3
:
Positive Software Limit
Bit 4
:
Negative Software Limit
Name Register Number Meaning
RUN Commands
OW

00
Bit F
:
Clear Alarm
Commands will be received in the return direction.
Servo-
motor
An alarm will occur again if a command is
given in the direction of the software limit
that was activated.
Software Limit,
lower limit
Software Limit,
upper limit
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