Omron M1 Series User Manual page 449

6-7-6
Overtravel (OT)
When a movement limit point is passed through, there is the risk of mechanical failure or accident. For
this reason, the movement limit point can be detected by the hardware and input digitally as an over-
travel (OT) signal. OT detection causes a deceleration stop for the time set in Deceleration Time for
Forced Stop (H56) and then servos change to a locked state. When Over Travel Forced Stop Opera-
tion Selection (d280) = 1, a deceleration stop is performed and then the Er6 alarm is generated. Plus
side overtravel "FOT" and minus side overtravel "ROT" can be allocated independently. The overtravel
signal is enabled (NC contact is made) when it is OFF, for safety reasons. When an overtravel is de-
tected, overtravel detection signal "OT-OUT" is output as a digital output.
Parameter
No.
Input Terminal [DI1] Func-
E01 to E05
tion Selection to Input Ter-
E98
minal [DI7] Function Se-
E99
lection
Over Travel Forced Stop
d280
Operation Selection
6-7-7
Software OT
With overtravel (OT), the movement limit point is basically detected by the hardware. However, the lim-
it point position can be set by number of pulses as a software OT. The limit point position can be set in
two directions independently by + software OT and - software OT. Operation when a software OT is
detected can be selected in Overtravel Function Selection (d222). When an OT limit point does not
exist, for example, on a rotating body, leave parameter d222 at its default value (= 0).
Parameter
No.
Overtravel Function Selec-
d222
tion
Software Overtravel Detec-
d225 tion Position in the Positive
Direction (MSB)
Software Overtravel Detec-
d226 tion Position in the Positive
Direction (LSB)
Software Overtravel Detec-
d227 tion Position in the Nega-
tive Direction (MSB)
Software Overtravel Detec-
d228 tion Position in the Nega-
tive Direction (LSB)
M1 Series Standard Type User's Manual (I669)
Function name
139 (1139): Forward rotation driving pro-
hibited "FOT"
140 (1140): Reverse rotation driving pro-
hibited "ROT"
0: Servo lock after deceleration stop
1: Er6 fault occurs after deceleration
stop
Function name
0: Invalid/Infinite rotation
1: Valid (Positioning at OT position
at over traveling), normal PTP
2: Valid (Immediately stopped at
over traveling), normal PTP
−268435455 to 268435455
(MSB: -4,096 to 4,095, LSB: 0 to
65,535)
−268435455 to 268435455
(MSB: -4,096 to 4,095, LSB: 0 to
65,535)
6 Vector Control and Applied Functions
Default da-
Data
Data Default data
268435455
-268435455
Unit
ta
- -
0 -
Unit
0 -
-
-
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