YASKAWA MP2000 Series User Manual

12.5 Troubleshooting Motion Errors
12.5.2 Motion Error Details and Corrections
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( 3 ) Bit 1: Positive Direction Overtravel and Bit 2: Negative Direction Overtravel
( 4 ) Bit 3: Positive Direction Software Limit and Bit 4: Negative Direction Software Limit
( 5 ) Bit 5: Servo OFF
Detection Timing
• 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.
Processing when
Alarm Occurs
• The SERVOPACK performs stop processing.
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.
• Machine Controller Processing
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.
Error and Cause
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.
Correction
• Check the following.
Check the overtravel signal.
Check the program or manual operation.
• Then, after clearing the motion command code and resetting the alarm, use a return operation to eliminate
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
Detection Timing
• 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.
Processing when
Alarm Occurs
• 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.
Error and Cause
• 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.
Correction
• 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.)
Detection Timing
• Servo OFF status is detected when a move command is executed.
Processing when
Alarm Occurs
• 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.
Error and Cause
• A move command (commands for positioning, external positioning, STEP operation, JOG operation, etc.)
was executed when the SERVOPACK was Servo OFF status.
Correction
• After clearing the motion command and resetting the alarm, turn the SERVOPACK to the Servo ON sta-
tus.

YASKAWA MP2000 Series Specifications

General

Brand	YASKAWA
Model	MP2000 Series
Category	Controller
Language	English