Yaskawa MP2200 Machine Controller - Manual (Page 501)

10.1 Motion Errors
10-15
( 6 ) Positive and Negative Soft Limit (Positive and Negative Software Limit)
(IL††04 Bit 3 and Bit 4)
( 7 ) Servo OFF (IL††04 Bit 5)
Detection Timing
• The software limits are detected by the position management section during execution of a motion command.
• 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 Occurrence in the Servo Module Command
Status (IW††09 bit 3) will turn ON.
Error and Cause
• A move command was executed that exceeded a software limit of the machine 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.
• 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
attempted.)
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 Occurrence in the Servo Module 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 status.