Yaskawa MP920 Motion Module - Manual (Page 367)

8.2 Alarms and Actions Taken
8-11
8
„ Positive Overtravel and Negative Overtravel
We recommend the following settings in the SERVOPACK to prevent vertical axes from falling and to
prevent vibration at the overtravel boundary.
• Decelerate to a stop in an emergency stop.
• Set zero clamp status after decelerating to a stop.
SVA-01A SVA-02A SVB-01 PO-01
Supported Supported Supported Not supported
Detection Timing
• Detected by the position control section while a motion command was being executed in Posi-
tion Control Mode. (Normal operation)
• Overtravel detected when OT signal turned OFF in the movement direction.
Alarm Processing
• The SERVOPACK will execute a stop. The parameter settings will determine the stop proce-
dure and the procedure after stopping.
• Bit 5 (command error end) of IW††15 (Motion Command Status) will turn ON.
• Controller processing. The SVA will output the zero speed reference, the SVB will decelerate
the machine to a stop because the command was canceled, and follow-up processing (aligning
the reference position to the current machine position every scan cycle) will be performed.
Errors and Causes
• A reference exceeding the machine movement limit was issued. The movement command refer-
ence exceeded the movement range in manual operation.
• Overtravel signal error.
Action Taken
• Check the overtravel signal.
• Check the program and manual operation.
• Clear the motion command code, reset the alarm, and then move the axis back to eliminate
overtravel. (References in the overtravel direction will be disabled and another alarm will
occur.)
IMPORTANT