YASKAWA SVC - The Effects of Software Limits; Processing after an Alarm Occurs

6.3 Software Limits
6.3.4 The Effects of Software Limits
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Other Useful Functions
6.3.4 The Effects of Software Limits
If a position command that exceeds the positive or negative software limit is executed with
software limits enabled, an alarm occurs and the MP3000 stops the axis. The way in which the
axis stops depends on the motion command, as shown in the following table.
Setting Precautions
• Software limit settings are not valid for the ZRET command.
• If a software limit is detected after an external positioning signal is detected and during the
external positioning travel distance for an EX_POSING or EX_FEED operation, the axis starts
decelerating at the software limit position and stops beyond the software limit position.
6.3.5 Processing after an Alarm Occurs
This section describes the processing that occurs after an alarm.
Monitoring Alarms
An alarm will occur if the axis exceeds the position of a software limit. This alarm can be moni-
tored via the IL04 monitor parameter (Alarms).
Clearing a Software Limit Alarm
Use the following procedure to clear a software limit alarm.
1. Set bit F (Clear Alarm) in the OW00 setting parameter to 1 (Clear Alarm ON).
This clears the alarm in IL04.
2. Use a FEED or STEP command to move in the opposite direction from the direction that
was used when the alarm occurred.
Motion Commands Axis Stop Operation
POSING
EX_POSING
FEED
STEP
EX_FEED
The axis starts decelerating before the software limit position
and stops at the software limit position.
INTERPOLATE
LATCH
Distribution stops at the software limit position.
The Servomotor performs an emergency stop.
VELO
TRQ
PHASE
The axis starts decelerating at the software limit position and
stops beyond the software limit position.
Register
Address
Name Description
IL04 Alarms
Bit 3 Positive Software Limit
Bit 4 Negative Software Limit
Register Address Name Description
OW00 Run Command Settings Bit F Clear Alarm
A travel command in the opposite direction from
when the alarm occurred is accepted.
An alarm will occur again for any travel
command in the same direction.
Negative software limit
(lower limit)
Positive software limit
(upper limit)
Motor