Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - MECHATROLINK-II Communications Reference - Manual (Page 93)

4 Operation
4.3.2 Overtravel
4-8
(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 the overtravel warning function, set digit 4 of Pn00D to 1 (detects overtravel warning).
Note: The overtravel warning function is supported by software version 001A or later. The software version can be
checked with Fn012. For details, refer to 6.14 Software Version Display (Fn012).
Warning Output Timing
<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 status
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.
Related Parameter
CAUTION
• The overtravel warning function only detects warnings. It does not affect on stopping for overtravel or
motion operations at the host controller. The next step (e.g., the next motion or other command) can be
executed even if an overtravel warning exists. However, depending on the processing specifications and
programming for warnings in the host controller, operation may be affected when an overtravel warning
occurs (e.g., motion may stop or not stop). Confirm the specifications and programming in the host control-
ler.
• When an overtravel occurs, the SERVOPACK will perform stop processing for overtravel. Therefore, when
an overtravel warning occurs, the servomotor may not reach the target position specified by the host con-
troller. Check the feedback position to make sure that the axis is stopped at a safe position.
Overtravel input signal
㧔P-OT, N-OT signals㧕
Overtravel warning
㧔A.9A0㧕
Servomotor power
Warning not detected.
OFF ON
Enabled Disabled Enabled Disabled
Disabled
Warning status
Normal operation Normal operation
Motion command ALM_CLR command Command
MECHA
Parameter Meaning When Enabled Classification
Pn00D
n.0
[Factory setting]
Does not detect overtravel warning.
Immediately Setup
n.1 Detects overtravel warning.