Yaskawa MP940 Reference Manual - Manual (Page 353)

MotionSuite™ MP940 Machine Controller Reference Manual Motion Error
9-25
Content of Motion Parameter Alarm (ILxx22)
The detailed content of the axis alarm flag (ILxx22) is shown below.
Motion Parameter Alarm (ILxx22)
Parameter Number Content
b0: Unused
b1: OTF Positive Overtravel
Servo amplifier has detected positive overtravel (P-OT signal is ON)
b2: OTR Negative Overtravel
Servo amplifier has detected negative overtravel (N-OT signal is ON)
b3: SOTF Positive Soft Limit
Detects motion into the positive soft limit field
b4: SOTR Negative Soft Limit
Detects motion into the negative soft limit field
b5: Unused
b6: TIMEOVER Positioning Timeout
Positioning was not completed within the time set in OWxx34 “Positioning
Completion Check Time” following feed completion.
b7: DISTOVER Excessive positioning distance
A motion command was executed in which the positioning motion
exceeded the limit value.
b8: Unused
b9: Unused
b10: MODERR Control Mode Error
A position control mode motion command was used outside of the position
control mode.
b11: ZSET_NRDY Zero-point not set
Motion was designated while using an absolute encoder with no zero-point
set.
b12: Unused
b13: Unused
b14: Unused
b15: Unused
b16: Unused
b17: Excessive Absolute Encoder Rotation
The rotation of the absolute encoder has exceeded the range that can be
handled by the MP940.
b18: PGLEFT Encoder Cutoff
Encoder cutoff was detected upon selection of the A/B pulse calculation
formula.
b19~b31: Empty