YASKAWA E-V-MD Series User Manual page 109

7 Operation
7.3.2 Overtravel
(2) Overtravel Function Setting
You can use Pn590 and Pn591 to enable or disable the overtravel function.
If the overtravel function is not used, no wiring for overtravel input signals will be required.
Pn590
Pn591
• A parameter can be used to re-allocate input connector number for the P-OT and N-OT signals. Refer to 5.3
I/O Signal Assignments for details.
(3) Servomotor Stopping Method When Overtravel is Used
There are two servomotor stopping methods when an overtravel is used.
• Decelerate to a stop
Stops by using emergency stop torque.
• Coast to a stop
Stops naturally, with no control, by using the friction resistance of the servomotor in operation.
After servomotor stopping, there are two modes.
• Coast mode
Stopped naturally, with no control, by using the friction resistance of the servomotor in operation.
• Zero clamp mode
A mode forms a position loop by using the position reference zero.
The servomotor stopping method when an overtravel (P-OT, N-OT) signal is input while the servomotor is
operating can be set with parameter Pn001.
Pn001
• A servomotor under torque control cannot be decelerated to a stop. Coast status is maintained after the ser-
vomotor coasts to a stop.
• For details on servomotor stopping methods after the SV_OFF command is received or an alarm occurs,
refer to 7.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence.
7-6
Parameter
n.0
[Factory P-OT signal assignment disabled.
setting]
P-OT signal assigned. Positive drive is enabled
n.1
when the signal is low.
P-OT signal assigned. Positive drive is enabled
n.2
when the signal is high.
n.0
[Factory N-OT signal assignment disabled.
setting]
N-OT signal assigned. Positive drive is enabled
n.1
when the signal is low.
N-OT signal assigned. Positive drive is enabled
n.2
when the signal is high.
Parameter Stop Method
n.02
Coast
[Factory setting]
n.1
Deceleration to a
stop
n.2
Meaning
Mode After
When Enabled
Stopping
Coast
After restart
Zero clamp
Coast
When Enabled Classification
After restart Setup
After restart Setup
Classification
Setup