YASKAWA JUSP-MD D01A Series User Manual page 116

5 Operation
5.2.3 Overtravel
 When Servomotor Stopping Method is Set to Decelerate to Stop
Emergency stop torque can be set with Pn406.
Pn406
• The setting unit is a percentage of the rated torque.
• The factory setting is 800% so that the setting is large enough a value to operate the servomotor at maximum
torque. The maximum value of emergency stop torque that is actually available, however, is limited to the
maximum torque of the servomotor.
(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 multi-winding drive unit 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
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
• The warning output will be held for one second after the overtravel status no longer exists and it will then be
• 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 multi-winding drive unit will perform stop processing for overtravel. There-
fore, when an overtravel warning occurs, the servomotor may not reach the target position specified by the
host controller. Check the feedback position to make sure that the axis is stopped at a safe position.
 Related Parameter
Pn00D
5-8
Emergency Stop Torque
Setting Range
0 to 800
OFF
Disabled Enabled
Normal status
(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.
cleared automatically.
Parameter
n.0
Does not detect overtravel warning.
[Factory setting]
n.1 Detects overtravel warning.
Speed
Setting Unit Factory Setting
1% 800
ON
Disabled Enabled
Warning status
One second
CAUTION
Meaning
Position Torque
When Enabled
Immediately
Disabled
Normal status
Warning status automatically cleared.
When Enabled Classification
Immediately
Classification
Setup
Analog
Setup