YASKAWA E-V-MD Series User Manual page 110

 When Servomotor Stopping Method is Set to Decelerate to Stop
Emergency stop torque can be set with Pn406
Emergency Stop Torque
Pn406
Setting Range
0 to 800
• 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 SERVOPACK detects overtravel even if the
overtravel signal is ON only momentarily.
To use this function, perform the following settings.
• Set Pn00D = n.1 (overtravel warning function).
• Allocate one of the output signals to the warning signal.
 Warning Output Timing
Command
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 sta-
tus exists.
• To clear the overtravel warning, send a Clear Warning or Alarm command (ALM_CLR) regardless of the
status of the servomotor power and the overtravel signal. If the warning is cleared by this method during an
overtravel state, the occurrence of the warning will not be indicated until the overtravelling is corrected and
reset.
• The overtravel warning will be detected when the software limit is in effect.
Setting Unit Factory Setting
1%
Motion command
OFF
Disabled
Enabled Enabled
Normal operation
7.3 Basic Functions Settings
Speed Position Torque
When Enabled
800% Immediately
ALM_CLR command
ON
Disabled
Normal operation
Warning status
Classification
Setup
7
7-7