Yaskawa MP930 - Manual (Page 230)

Controlled Axis Support Functions
6.1.5 Stroke Limit Function
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1. The stroke limit function is disabled when Infinite Length Positioning is selected.
2. When moving to 0° by specifying Absolute Mode in Infinite Length Mode Axis, the axis moves counter-
clockwise even if +0.0 is specified. Specify +360.0 to move the axis clockwise.
6.1.5 Stroke Limit Function
The stroke limit function is used to set upper and lower limits at fixed parameters for machine
system range of movement so the controller can constantly monitor the operating range of the
machine. The function prevents machine runaway or damage due to incorrect operation as well
as incorrect references in a motion program.
Overtravel in the
forward direction
Negative stroke limit (Distance traveled)
Overtravel in the
reverse direction
Positive stroke limit
D The following fixed parameters must be set in order to use the stroke limit function.
Parameter
No.
Name Units Remarks
17 Servo Module Function Selection Flags
b7: Positive stored stroke limit
b8: Negative stored stroke limit
0: Disabled, 1: Enabled
0: Disabled, 1: Enabled
25 Positive stored stroke limit Units: 1 = 1 reference units −2147483648 to 2147483647
26 Negative stored stroke limit Units: 1 = 1 reference units −2147483648 to 2147483647
D Set the positive and negative stroke limits for a machine coordinate system.
D The machine coordinate system is determined by returning to the zero point.
D The stroke limit function is implemented after the machine returns to the zero point.
D Be sure to return to the zero point after power is turned ON.
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