2) overtravel function setting – Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Analog Voltage and Pulse Train Reference User Manual

Page 121

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5.2 Basic Functions Settings

5-7

5

Ope

rat

ion

(2) Overtravel Function Setting

Parameters Pn50A and Pn50B can be set to enable or disable the overtravel function.

If the overtravel function is not used, no wiring for overtravel input signals will be required.

A parameter can be used to re-allocate input connector number for the P-OT and N-OT signals. Refer to 3.3.1

Input Signal Allocations for details.

(3) Servomotor Stopping Method When Overtravel is Used

There are three servomotor stopping methods when an overtravel is used.

• Dynamic brake

By short-circuiting the electric circuits, the servomotor comes to a quick stop.

• Decelerate to a stop

Stops by using emergency stop torque.

• Coast to a stop

Stops naturally, with no control, by using the friction resistance of the servomotor in operation.

After servomotor stopping, there are two modes.

• Coast mode

Stopped naturally, with no control, by using the friction resistance of the servomotor in operation.

• Zero clamp mode

A mode forms a position loop by using the position reference zero.

The servomotor stopping method when an overtravel (P-OT, N-OT) signal is input while the servomotor is

operating can be set with parameter Pn001.

• A servomotor under torque control cannot be decelerated to a stop. The servomotor is stopped with the

dynamic braking (DB) or coasts to a stop according to the setting of Pn001.0. After the servomotor stops,

the servomotor will enter a coast state.

• For details on servomotor stopping methods after the /S-ON (Servo ON) signal turns OFF or an alarm

occurs, refer to 5.2.5 Stopping Servomotors after /S-ON Turned OFF or Alarm Occurrence.

Parameter

Meaning

When

Enabled

Classification

Pn50A

n.2

[Factory setting]

Inputs the Forward Run Prohibited (P-OT) signal from
CN1-42.

After restart

Setup

n.8

Disables the Forward Run Prohibited (P-OT) signal.
Allows constant forward rotation.

Pn50B

n.

3 [Fac-

tory setting]

Inputs the Reverse Run Prohibited (N-OT) signal from
CN1-43.

n.

8

Disables the Reverse Run Prohibited (N-OT) signal.
Allows constant reverse rotation.

Parameter

Stop Method

Mode After Stop-

ping

When Enabled Classification

Pn001

n.

00

[Factory setting]

DB

Coast

After restart

Setup

n.

01

n.

02

Coast

n.

1

Deceleration to a stop

Zero clamp

n.

2

Coast

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