Overtravel - YASKAWA UAK series User Manual

8.4.2 Overtravel

If movable machine parts overtravel and exceed the allowable range of motion, the overtravel limit function
forces the parts to stop by activating the limit switch.
For rotating application such as disc table and conveyor, overtravel function is not necessary.
In such a case, no wiring for overtravel input signals is required.
The overtravel function is not affected by the set value of Pn01E.0 (Motor Type/Application Selection Set-
ting).
• Installing limit switches
For machines that move using linear motion, connect limit switches to P-OT and N-OT of CN1 as shown below to
prevent machine damage. To prevent a contact fault or disconnection from causing accidents, make sure that the limit
switches are normally closed.
Servomotor
• Axes to which external force is applied in overtravel.
Vertical axes:
Occurrence of overtravel may cause a workpiece to fall, because the /BK signal is on, that is when the brake is
released. Set the parameter (Pn001.1 = 1) to bring the servomotor to zero clamp state after stopping to prevent a
workpiece from falling.
Other axes to which external force is applied:
Overtravel will bring about a baseblock state after the servomotor stops, which may cause the servomotor to be
pushed back by the load's external force. To prevent this, set the parameter (Pn001.1 = 1) to bring the servomotor to
zero clamp state after stopping.
For details on how to set the parameter, refer to (3) Servomotor Stopping Method When Overtravel Occurs.
(1) Signal Setting
Type Name
P-OT
Input
N-OT
Rotation in the opposite direction is possible during overtravel by inputting the reference.
(2) Overtravel Function Setting
Parameters Pn50A and Pn50B can be set to enable or disable the overtravel function.
If the overtravel function is not set to use, no wiring for overtravel input signals will be required.
Parameter
(Index Number)
n.1
[Factory setting]
Pn50A
(2110h:1)
n.8
n.
[Factory setting]
Pn50B
(2110h:2)
n.
∗1. For a SERVOPACK for two axes: CN1-8 (P-OT1), CN1-10 (P-OT2)
∗2. For a SERVOPACK for two axes: CN1-9 (P-OT1), CN1-11 (P-OT2)
Motor forward rotation direction
SERVOPACK
CN1
Limit
Limit
N-OT
switch
switch 8
P-OT
7
Connector
Pin Number
ON
Note: For pin num-
OFF
bers of CN1, refer to
7.2.5 I/O Signals.
ON
OFF
Inputs the Forward Run Prohibited (P-OT) signal from
*1
CN1-6 .
Disables the Forward Run Prohibited (P-OT) signal.
Allows constant forward rotation.
Inputs the Reverse Run Prohibited (N-OT) signal from
2
*2
CN1-7 .
Disables the Reverse Run Prohibited (N-OT) signal.
8
Allows constant reverse rotation.
8.4 Settings for Common Basic Functions
CAUTION
Note: For pin numbers of CN1,
refer to 7.2.5 I/O Signals.
Setting
Forward run allowed.
Normal operation status.
Forward run prohibited. Forward overtravel.
Reverse run allowed. Normal operation status.
Reverse run prohibited. Reverse overtravel.
Meaning
Meaning
When
Classification
Enabled
After restart Setup
8
8-9