Yaskawa MP2200 Machine Controller - Manual (Page 481)

9.3 Software Limit Function
9-17
9.3 Software Limit Function
This section explains the software limit function.
9.3.1 Overview
The software limit function is used to set upper and lower limits for the range of machine movement
in fixed parameters so the MP2200/MP2300 can constantly monitor the operating range of the
machine. The function can be used to help prevent machine runaway or damage due to incorrect
operation as well as incorrect references in a motion program.
9.3.2 Fixed Parameter Settings
The following fixed parameters must be set in order to use the software limit function.
Set the positive and negative software limits for the machine coordinate system. The machine
coordinate system is established by executing the zero point return operation. The software limit
function is enabled after the zero point return operation. Be sure to execute the zero point return after
power is turned ON.
The effects of the software limit in each operating mode are listed in the following table.
Range of machine movement
Servo-
motor
Negative
overtravel
Software Limit,
lower limit
Software Limit,
upper limit
Positive
overtravel
Fixed Parameter
Number
Name Contents Unit Setting Range
1 Function Selection 1
Bit 1: Forward Soft Limit
Enabled (Forward
Software Limit Enabled)
0: Disable, 1: Enable
Bit 2: Reverse Soft Limit
Enabled (Reverse
Software Limit Enabled)
0: Disable, 1: Enable
− −
12 Forward Software Limit −
1 = 1 reference
unit
−2 31 to 2 31 −1
14 Reverse Software Limit −
1 = 1 reference
unit
−2 31 to 2 31 −1
Type of Axis
Movement
Check Contents
Interpolation Yes
The software limit range is constantly checked during an interpolation move,
and the axis will decelerate to a stop at the software limit position.
JOG operation Yes
If the software limit function is enabled, a move command is executed to the
software limit position.
After an error is cleared, the axis can be moved to inside the stroke range.
Positioning/STEP
operation
Yes
If a positioning command is given for a position beyond the software limit, the
axis will be positioned on the software limit position and an alarm will occur.