YASKAWA UAK series User Manual page 168

(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 the overtravel warning function, set digit 4 of Pn00D to 1 (detects overtravel warning).
Warning Output Timing
Controlword (6040h)
Servomotor power
Overtravel input signal
Disabled
P-OT, N-OT signals
Overtravel warning
A.9A0
Warning not detected.
<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.
Example: A warning will not be output for a forward reference even if the N-OT signal (reverse run prohibited)
turns ON.
• 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
exists.
• Use the Fault Reset command to clear the warning, and not the servo ON/OFF or the overtravel signal.
• If the warning is cleared during overtravel status with the Fault Reset command, a warning will not be detected
again until the overtravel status has been cleared.
• The overtravel warning will be detected when the software limit is in effect.
• The overtravel warning function only detects warnings. It has no 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 program-
ming 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.
• 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
Parameter (Index Number)
n.0
Pn00D
[Factory setting]
(200Dh)
n.1
Switched on
OFF
Disabled
Enabled Enabled
Normal operation
CAUTION
Meaning
Does not detect overtravel warning.
Detects overtravel warning.
8.4 Settings for Common Basic Functions
Enable operation
ON
Disabled
Warning status
When Enabled Classification
Immediately
Fault reset
Normal operation
Setup
8
8-11