Operation Sequence When Ot (Overtravel Limit Switch) Signal Is Input - YASKAWA MECHATROLINK Sigma 2 Series User Manual

4 MECHATROLINK-II Communications

4.7.4 Operation Sequence When OT (Overtravel Limit Switch) Signal Is Input

4.7.4 Operation Sequence When OT (Overtravel Limit Switch) Signal Is
Input
When the OT signal is input, the SERVOPACK prohibits rotation in the OT signal direction.
This is performed as specified in parameter Pn001, and the SERVOPACK continues to con-
trol the motor while this rotation is prohibited. Use the following sequence for processing or
canceling when the OT signal is input.
Processing When the OT Signal Is Input
1. To monitor the OT signal and align it with the present movement reference direction,
send a stop command. Use either of the following stop commands.
• Interpolation command (INTERPOLATE, LATCH):
The interpolation command updates the interpolation position, then stops. As an
alternative, send the HOLD command or SMON command.
• Movement reference command other than the interpolation command:
Send the HOLD command.
2. Use the output complete flag (DEN = 1) to confirm the completion of SERVOPACK OT
processing. By also confirming that PSET = 1, it is possible to detect motor stopping
with absolute certainty. The command used in number 1 above is held until these flags
are complete.
OT Cancellation (Retraction)
OT cancellation (retraction) is performed with a movement command. When retracting with
an interpolation command such as INTERPOLATE, read the present reference position
(POS) and interpolate the starting position. This process is not necessary when retracting is
done using a command other than an interpolation command.
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