13 Troubleshooting
13.3.2 Motion Error Details and Corrections
13-26
(4) Positive Overtravel and Negative Overtravel (IL
04, bit 1 and bit 2)
For a vertical axis, the following should be set at the SERVOPACK to avoid dropping and vibration at the
overtravel limit.
• An emergency deceleration stop
• Zero clamp status after the deceleration stop
(5) Positive Soft Limit and Negative Soft Limit (IL
04, bit 3 and bit 4)
Detection Timing
• Overtravel is continuously monitored by the position management section during execution of a motion
command.
• Overtravel is detected when the OT signal in the direction of movement turns OFF.
Processing when Alarm Occurs
• The SERVOPACK performs stop processing.
The stop method and processing after stopping depends on the SERVOPACK parameter settings.
• The Command Execution End with Error bit (IW
09, bit 3) in Motion Command status will turn
ON.
• MP2100/MP2100M Processing
The command is canceled and the axis decelerates to a stop. Follow-up processing (each scan the
current position of the machine is adjusted to the reference position) is executed.
Error and Cause
• A move command was executed that exceeded the travel limit of the machine as follows:
A user program command exceeded the travel limit.
The travel limit was exceeded in manual operation.
• Overtravel signal malfunction.
Correction
• Check the overtravel signal.
• Check the program or manual operation.
• After clearing the motion command code and resetting the alarm, use a return operation to eliminate the
overtravel status. (Commands in the overtravel direction will be disabled and an alarm will occur again
if one is attempted.)
IMPORTANT
Detection Timing
• The soft limits are detected by the position management section during execution of a motion
command.
• The soft limits are valid after a Zero Point Return or Zero Point Setting has been completed.
Processing when Alarm Occurs
• The axis decelerates to a stop at the soft limit.
The Command Execution End with Error bit in Motion Command Status (IW
09, bit 3) will turn
ON.
Error and Cause
• A move command was executed that exceeded a soft limit of the machine as follows:
A user program command exceeded the soft limit.
The soft limit was exceeded in manual operation.
Correction
• Check the program or manual operation.
• After clearing the motion command code and resetting the alarm, use a return operation to eliminate the
soft limit status. (Commands in the direction of the soft limit will be disabled and an alarm will occur
again if one is attempted.)
