FAQ: Does the sofware limit objects 607D:01h and 607D:02h include the home offset object 607Ch?
Breadcrumb
Contact Us
contactUsAction
The limit values are corrected internally by the Home Offset as follows. The target positions are compared
with the corrected values.
- Corrected min. position limit = min. position limit - home offset (Object 607Ch)
- Corrected max. position limit = max. position limit - home offset (Object 607Ch)
For example:
- The application requires a home offset of -100,000 position units.
- The application requires that the internal limit (bit 11 of the Statusword 6041h) should activate (become 1) when the target position (607Ah) is 5,000 position units or more above the zero (home) position.
- The application requires that the internal limit (bit 11 of the Statusword 6041h) should activate (become 1) when the target position (607Ah) is 3,000 position units or more below the zero (home) position.
The variables are:
[Home Offset] = -100,000
[Positive limit] = 5,000
[Negative limit] = 3,000
[Minimum position limit] = 607D:01h
[Maximum position limit] = 607D:02h
The following procedure can be used:
1. Set home offset (Object 607Ch) to -100,000 position units.
2. Issue homing routine. When completed, the Position Actual Value will be approximately 100,000 position units.
3. Issue a move to the zero position (Target Position 607Ah should be 0 at the end of the move).
[Note: Moving to zero position may be necessary to be performed prior to setting software limits in the case of Cyclic Synchronous Position Mode, since the positions commanded in that mode might be outside the software limit range.]
4. Set the Minimum position limit (607D:01h) to -103,000. (This is the calculation of: [Minimum position limit] = [Home offset] - [Negative limit])
5. Set the Maximum position limit (607D:02h) to -95,000. (This is the calculation of: [Maximum position limit] = [Home offset] + [Positive limit])
The results will be:
1. If Position Actual Value (6064h) is 0, then Target Position 607Ah can be issued from -2,999 to 4,999 without bit 11 of the statusword changing to 1.
2. If Position Actual Value (6064h) is 0, and if Target Position 607Ah is issued lower than -2,999 or higher than 4,999, then bit 11 of the statusword will change to 1.
SAFETY PRECAUTIONS AND INSTRUCTIONS FOR USE OF FAQ INFORMATION!
Please read and understand the product instruction manual before installing, servicing or operating Yaskawa products. FAQ content and illustrations are provided as technical advice to augment the information in manual, not supersede it. It is not possible to give detailed instructions for all types of installation or support activities. The information described in the FAQs are subject to change without notice to improve the product or FAQ. Yaskawa assumes no responsibility for errors or omissions or damages resulting from the use of the information contained in any FAQ. All warnings, cautions and product instruction for product use must be followed. Installation, operation and maintenance should be carried out by qualified personnel. Failure to observe these and other precautions highlighted in the product manuals will expose the user to high voltages resulting in, serious injury or death. Qualified personnel are defined as individuals who are familiar with the installation, starting, operation and maintenance of Yaskawa products of the type described and have proper qualifications to perform the work.
Phone
If you have an urgent request, please call: 1-800-YASKAWA (927-5292) or 1-847-887-7000.Electronically
To contact us electronically, please select your type of request and complete the form.Yaskawa America, Inc. - Drives & Motion Division
2121 Norman Drive South
Waukegan, IL 60085