Overtravel Status; Overtravel Operation By Mode - YASKAWA SGD7S-1R9D Product Manual

5.10.6

Overtravel Status

If an overtravel signal is input, the following SERVOPACK status will change to 1 and the Servo-
motor will be stopped according to the overtravel stopping method set in Pn001. When the
overtravel signal is reset, the status changes to 0.
Internal limit active (bit 11) in statusword (6041 hex)
Negative limit switch (bit 0) or positive limit switch (bit 1) in digital inputs (60FD hex)
5.10.7

Overtravel Operation by Mode

Operation Mode
Profile position mode
Homing mode
Interpolated position mode,
Cyclic synchronous posi-
tion mode
Profile velocity mode, Cyclic
synchronous velocity mode
Profile torque mode, Cyclic
synchronous torque mode
• If an overtravel signal is input, the positioning operation to the current tar-
get position will be canceled and, after the motor stops, target reached in
statusword will be reset.
• A positioning operation (return operation) is started only when a movement
reference to a target position in the opposite direction from the overtravel
signal is specified in the current Position Actual Value (e.g., a negative
movement reference if the P-OT signal is input).
• For Homing Method 1, 11, 12, 13, 14, 28, or 34:
If the P-OT signal is input, homing error (bit 13) in statusword (6041 hex)
changes to 1 and the homing operation is canceled.
• For Homing Method 2, 7, 8, 9, 10, 24, or 33:
If the N-OT signal is input, homing error (bit 13) in statusword (6041 hex)
changes to 1 and the homing operation is canceled.
• If an overtravel signal is input, the positioning operation to the current tar-
get position will be canceled and, after the motor stops, target reached in
statusword will be reset.
• A positioning operation (return operation) is started only when a movement
reference to a target position in the opposite direction from the overtravel
signal is specified in the current position actual value (e.g., a negative
movement references if the P-OT signal is input).
• During overtravel, the motor is operated only when a speed in the direction
opposite from the overtravel signal is specified (e.g., a negative target
speed when the P-OT signal is input).
• During overtravel, torque is applied only when a torque in the direction
opposite from the overtravel signal is specified (e.g., a negative torque
when the P-OT signal is input).
5.10 Overtravel and Related Settings

5.10.6 Overtravel Status

Operation
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