Yaskawa MP920 Motion Module - Manual (Page 397)

9.3 Software Limit Function
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The following table shows the effect of software limits in each operating mode.
The software limit function will be enabled after returning to the zero point in Position Control Mode
or after the zero point is set.
9.3.3 Processing after an Alarm
„ Alarm Data
A forward/reverse direction software limit alarm will occur if an axis exceeds the software
limit. This alarm can be monitored from the monitoring parameter alarm (IL††22).
„ Clearing a Software Limit Alarm
The following procedure is used to clear alarm status generated by a software limit alarm.
1. Alarm Reset
Turn ON Alarm Clear (bit 6) of RUN Mode Settings (OW††00).
The alarm at IL††22 will be cleared.
2. Return
The FEED and STEP commands can be used to move the machine back inside the soft-
ware limit.
Axis Movement Check Remarks
Interpolation Yes • Constantly checks the software limit range during interpolation
movement and decelerates to a stop at the software limit position.
Feed Yes • Executes a command to move to the software limit position when
the software limit function is enabled.
• Can move back to within the stroke after an error is cleared.
Positioning
Step Yes • Positions the axis at the upper software limit and generates an
alarm if a positioning command is executed to move to a position
beyond the software limits.
IMPORTANT
Name Register No. Meaning
Alarms (ALARM) IL††22 Bit 3: SOTF Positive software limit
Bit 4: SOTR Negative software limit
Name Register Setting Meaning
RUN Mode Settings OW††00 Bit 6: ACR Alarm clear
Return command received.
Another alarm will occur if the machine is
instructed to return to the software limit.
Software limit
(lower limit) Software limit
(upper limit)
Servo-
motor