YASKAWA yasnac i80m

2.13
PROGRAM
SUPPORT
FUNCTIONS
(Cont’d)
The No.
1
and
two
prohibited
areas
of
No.
2
to
No.
5
can
be
overlapped.
Motion
in
prohibited
area
Each
prohibited
area
is
valid
after
once
returning
to
reference
point
by
G28
or
return
to
manual
reference
point
is
accomplished.
Error
handling
If
the axis
is
in
a
prohibited
area
when the
stored
stroke
limit
is
turned
on,
an
error
occurs
immediately.
If
this
error
occurs,
turn
off
the
prohibited
area
of
No.
2
to
No.
5
by setting
parameters.
then rewrite
data
or
move
the
axis
out
of
the
prohibited
area
by
manual
operation.
If
an
axis
enters
into
a
prohibited
area
causing
an
alarm,
retraction
is
possible
only
in
the
reverse
direction
of
entry.
Stored
stroke
limit
A
Stored
stroke
limit
A
is checked both
on
linear
and
rotary
axes.
For
rotary
axes,
a
parameter
is
provided
to
determine
whether
to
check
the
limit.
Normally,
the
limit
check is
not
performed.
Table
2.13.19
Servo
axis
parameters
1.
2.
3.
4.
5.
Axis
name
X
Y
Z
Parameter
pmtil.131
D6
pm6<>32
D6
ptn603U
D6
Axis
name
5
4
Parameter
pni6033
D6
pm6034
Dtj
DSÿOiLinear
axis
l:Rotary
axis
Table
2.13.20
Stored
stroke
limit
on/off
parameters
for
rotary
servo
axes
Z
Y
X
Axis
name
pm6032
D2
pmti0H4
D1
pm
6004
DO
Parameter
5
Axis
name
4
pm6004
D3
pm
6004
D4
Parameter
Each
bit
determines:
0:
To
check
the
limit.
1:
Not
to
check
the
limit.
6.
Stored
stroke
limits
cannot
be checked
when
the
machine
is
locked.
7.
Limit
check
with
axis
omitted
by
G22
For the
axes
omitted
in
command
G22.
parameter
values
are
used
for
limit
check.
8.
Fig.2.
14.41
shows
definitions of
whether
a
boundary
is
to
be
included
in
the
prohibited
area:
U
A
77%
Boundary
value
Included/not
included
Prohibited
area
Upper
limit
Included
tlKitside
prohibited
Outside
prohibited
area
area
Lower
limit
Not
included
Lower
limit
Not
included
Inside
prohibited
area
llpper
limit
Included
Inside
prohibited
area
Fig.
2.13.41
Definition
of
whether
boundary
is included
in
prohibited
areas
-
234
-