5.9 Notes when the Positioning Completed State (PSET = 1) is Established while Canceling a Motion Command
5-15
5
Operation
S
e
q
uence
5.9
Notes when the Positioning Completed State (PSET = 1) is Established while Canceling a Motion Command
When the SERVOPACK enters any of the following states during execution of a motion com-
mand, it may cancel the execution of the motion command and establish the positioning com-
pleted state (PSET = 1).
•
The servo OFF state (SV_ON of SVCMD_STAT set to "0") has been established due to an
alarm (D_ALM of CMD_STAT set to "0" or COMM_ALM
≥
8).
•
The servo OFF state (SV_ON of SVCMD_STAT set to "0") has been established because the
main power supply was turned OFF (PON of SVCMD_STAT set to "0").
•
The motor has stopped due to overtravel (P-OT or N-OT of SVCMD_IO set to "1") or a soft-
ware limit (P_SOT or N_SOT of SVCMD_IO set to "1").
•
The servo OFF state (SV_ON of SVCMD_STAT set to "0") has been established because the
HWBB signal was turned OFF (ESTP of SVCMD_IO set to "1").
In this case, the motor has not reached the target position specified by the host controller even
though PSET is set to "1." Check the feedback position (APOS) to confirm that the axis is
stopped at a safe position.
If the state of an OT signal varies over a short time (in a pulsing manner for example), the host
controller may not be able to monitor the variation of the OT signal properly. Take due care about
the selection of limit switches and their mounting and wiring to avoid chattering of OT signals and
malfunctioning.
Important
