Overtravel Warnings - YASKAWA SGD7S-1R9D Product Manual

5.10.4

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.
1. The occurrence of an A.9A0 warning will not stop the motor or have any effect 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
Important
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.
The following parameter is set for this function.
Parameter

n.0
Pn00D
(default setting)
(200D
hex) 
n.1
A timing chart for warning detection is provided below.
Command
Servo ON/OFF status
Overtravel signal
(P-OT or N-OT signal)
Overtravel warning (A.9A0)
A warning is not detected
because the servo is OFF.
1. Warnings are detected for overtravel in the same direction as the reference.
Information
2. Warnings are not detected for overtravel in the opposite direction from the reference.
3. A warning can be detected in either the forward or reverse direction if there is no refer-
4. A warning will not be detected when the servo is turned ON even if overtravel status
5. You can use the ALM_CLR (Clear Alarms and Warnings) command to clear the warning
6. If you clear the warning with the Fault Reset command during overtravel status, a warning
7. An overtravel warning will be detected even when the software limit has been detected.
Do not detect overtravel warnings.
Detect overtravel warnings.
Motion or other command
OFF
Enabled Disabled
Disabled
Normal status
Example: A warning will not be output for a forward reference even if the N-OT signal turns
ON.
ence.
exists.
regardless of the servo ON/OFF status and overtravel signal status.
will not be detected again until the overtravel status is left.
5.10 Overtravel and Related Settings
Meaning
ON
Disabled
Enabled
Warning status

5.10.4 Overtravel Warnings

When Enabled Classification
Immediately Setup
Fault Reset command
Normal status
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