YASKAWA SGMJV User Manual page 94

4 Operation
4.3.2 Overtravel
(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 this function, set Pn00D to n.1 (Detects overtravel warning).
Note: The overtravel warning function is supported by software version 001A or later. The software version can be
checked with Fn012. For details, refer to 6.14 Software Version Display (Fn012).
 Warning Output Timing
Servomotor power
Overtravel input signal
P-OT, N-OT signals
Overtravel warning
<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 a Clear Warning or Alarm command (ALM_CLR) regardless of the status of
• 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.
 Related Parameter
Pn00D
4-8
Command
OFF
Enabled
Disabled
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.
the servomotor power 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 overtraveling is corrected and reset.
Parameter
n.0
Does not detect overtravel warning.
[Factory setting]
n.1
Detects overtravel warning.
Motion command
ON
Disabled
Disabled
Enabled
Warning status
CAUTION
Meaning
ALM_CLR command
Normal operation
When Enabled Classification
Immediately Setup