YASKAWA SGDV series User Manual page 104

4 Operation
4.2.3 Overtravel
When Servomotor Stopping Method is Set to Decelerate to Stop
Emergency stop torque can be set with Pn406.
Pn406
• The setting unit is a percentage of the rated torque.
• The factory setting is 800% so that the setting is large enough a value to operate the servomotor at maximum
torque. The maximum value of emergency stop torque that is actually available, however, is limited to the
maximum torque of the servomotor.
(4) Overtravel Warning Function
This function detects an overtravel warning (A.9A0) if overtravel occurs while the servomotor power is ON.
Using this function enables notifying the host controller when the SERVOPACK detects overtravel even if the
overtravel signal is ON only momentarily.
To use the overtravel warning function, set digit 4 of Pn00D to 1 (detects overtravel warning).
Warning Output Timing
Servomotor power
Overtravel input signal
P-OT, N-OT signals
Overtravel warning
∗
For details, refer to the manual of the connected command option module.
<Notes>
• Warnings are detected for overtravel in the same direction as the reference.
• Warnings are not detected for overtravel in the reverse direction from the reference.
• A warning can be detected in either the forward or reverse direction, when there is no reference.
• A warning will not be detected when the servomotor power is OFF even if overtravel occurs.
• A warning will not be detected when the servomotor power changes from OFF to ON even if overtravel status
• To clear the overtravel warning, send an alarm clear command regardless of the status of the servomotor power
• The overtravel warning will be detected when the software limit is in effect.
• The overtravel warning function only detects warnings. It does not affect on stopping for overtravel or
motion operations at the host controller. The next step (e.g., the next motion or other 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 control-
ler.
• When an overtravel occurs, the SERVOPACK will perform stop processing for overtravel. Therefore, when
an overtravel warning occurs, the servomotor may not reach the target position specified by the host con-
troller. Check the feedback position to make sure that the axis is stopped at a safe position.
4-8
Emergency Stop Torque
Setting Range
0 to 800
Command
OFF
Disabled Enabled
Normal operation
A.9A0
Warning not detected.
Example:A warning will not be output for a forward reference even if the N-OT signal (reverse run prohibited)
turns ON.
exists.
and the overtravel signal. If the warning is cleared by this method during an overtravel state, the occurrence of the
warning will not be indicated until the overtravelling is corrected and reset.
Speed
Setting Unit Factory Setting
1% 800
Motion command
ON
Disabled
Enabled
Warning status
CAUTION
Position Torque
When Enabled
Immediately
Alarm clear command*
MECHA
Disabled
Normal operation
Classification
Setup