Overtravel During Clearance Control - YASKAWA SGD7S series Product Manual

4.3.4

Overtravel during Clearance Control

If the P-OT (Forward Drive Prohibit Input) signal or N-OT (Reverse Drive Prohibit Input) signal is
activated while clearance control is in progress, the SERVOPACK stops the motor with the
method set in Pn001 = n.
direction.
If the drive prohibit input is activated in the opposite direction to the movement direction while
clearance control is in progress, the SERVOPACK will stop the motor using the following
method. If Pn001 is set to n.
will be different.
Setting
Stop with the dynamic brake or coast to a stop. (Use the stopping method set in Pn001 =
n.0
n.X.)
Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque, and then
n.1
lock the servo.
Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque, and then
n.2
let the motor coast.
Decelerate the motor to a stop using
n.3 the deceleration time in Pn30A and
then lock the servo.
Decelerate the motor to a stop using
n.4 the deceleration time in Pn30A and
then let the motor coast.
During overtravel signal input, cancel overtravel using the following sequence.
Clearance control operation will restart if you cancel overtravel with a manual pullback or other
means while clearance control is stopped for overtravel.
Step
1 After the motor is stopped for overtravel, set CLC_OFS to 0 to cancel clearance control.
Confirm that DEN (position reference distribution completed signal) is 1, and confirm that over-
travel stop processing has been completed.
2
You can accurately detect that the motor is stopped by also checking that ZSPD is 1 at this
time. Maintain the command as specified in step 1 until these flag conditions are met.
Read the current reference position (CPOS) and reset the reference coordinate system of the
3
controller.
Use a movement reference command (POSING, INTERPOLATE, etc.) to perform the overtravel
cancellation process (pullback). Continue the movement reference command until the pullback
4 operation is completed.
If you stop the pullback operation in the middle and then restart it, continue the command from
the previous target position.
 
X (Overtravel Stopping Method), regardless of the movement
  
3 or n.
Pn001
Description

4.3.4 Overtravel during Clearance Control


4 , the setting and the actual stopping method
Actual stopping method
Decelerate the motor to a stop using the torque set in
Pn406 as the maximum torque, and then lock the servo.
(Same stopping method as for Pn001 = n.1.)
Decelerate the motor to a stop using the torque set in
Pn406 as the maximum torque, and then let the motor
coast. (Same stopping method as for Pn001 =
n.2.)
Operation
4.3 Precautions
4
4-5