Overtravel Warnings - YASKAWA E-7S SERVOPACK SGD7S Product Manual

Set the deceleration rate when decelerating to a stop in PnB2B.
Deceleration
PnB2B
*
If you set PnB54 to 1 (Enable Expansion Mode), the range will be 1 to 199,999,999. Refer to the following section
for details.
12.4 Speed/Position Expansion Function Setting on page 12-8
If the servo turns OFF due to overtravel, the servo will not turn ON even if the overtravel is
released. To turn ON the servo, turn the /S-ON signal OFF and then ON or send the SVON serial
command. If parameter PnB0E is set to 0002h to keep the /S-ON signal always ON, turn the
Important power supply OFF and then ON again.
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 affect 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.
Important 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 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
(default setting)
Pn00D

n.1
A timing chart for warning detection is provided below.
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.
Setting Range Setting Unit
1 to 99999999* (Reference units/min)
Do not detect overtravel warnings.
Detect overtravel warnings.
OFF
Disabled Enabled Disabled
Normal status
5.10 Overtravel and Related Settings
Default Setting
1000
1000
/ms
Meaning
ON
Enabled Disabled
Warning status for 1 s

5.10.4 Overtravel Warnings

When Enabled
Immediately
When Enabled Classification
Immediately Setup
Normal status
The warning is automatically cleared.
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