Overtravel Warnings - YASKAWA SGD7S Product Manual

5.11 Overtravel and Related Settings

5.11.4 Overtravel Warnings

5.11.4 Overtravel Warnings

You can set the system to detect an A.9A0 warning (Overtravel) if overtravel occurs while the
servo is ON. This allows the SERVOPACK to notify the host controller with a warning even
when the overtravel signal is input only momentarily. An alarm occurs only if overtravel occurs
while the servo is ON. An overtravel warning will not be detected when the servo is OFF, even if
overtravel occurs.
Important
The following parameter is set for this function.
Pn00D
A timing chart for warning detection is provided below.
Servo ON/OFF status
(P-OT or N-OT signal)
Overtravel warning (A.9A0)
Information
5-30
1. The occurrence of an A.9A0 warning will not stop the motor or have any affect on host control-
ler motion operations. The next step (e.g., the next motion or command) can be executed
even if an overtravel warning exists.
However, depending on the processing specifications and programming for warnings in the
host controller, operation may be affected when an overtravel warning occurs (e.g., motion
may stop or not stop). Confirm the specifications and programming in the host controller.
2. When overtravel occurs, the SERVOPACK will perform stop processing for overtravel. There-
fore, when an A.9A0 warning occurs, the Servomotor may not reach the target position speci-
fied by the host controller. Check the feedback position to make sure that the axis is stopped
at a safe position.
Parameter

n.0
Do not detect overtravel warnings.
(default setting)

n.1 Detect overtravel warnings.
Command
OFF
Enabled
Disabled
Overtravel signal
A warning is not detected
because the servo is OFF.
1. Warnings are detected for overtravel in the same direction as the reference.
2. Warnings are not detected for overtravel in the opposite direction from the reference.
Example: A warning will not be output for a forward reference even if the N-OT signal turns
ON.
3. A warning can be detected in either the forward or reverse direction if there is no refer-
ence.
4. A warning will not be detected when the servo is turned ON even if overtravel status
exists.
5. You can use the ALM_CLR (Clear Alarms and Warnings) command to clear the warning
regardless of the servo ON/OFF status and overtravel signal status.
6. If you clear the warning with the ALM_CLR (Clear Alarms and Warnings) command during
overtravel status, a warning will not be detected again until the overtravel status is left.
7. An overtravel warning will be detected even when the software limit has been detected.
Meaning
Motion or other command
Disabled
Enabled
Normal status
Warning status
When Enabled
Immediately
ALM_CLR command
ON
Disabled
Normal status
Classification
Setup