8.4 Settings for Common Basic Functions
8-11
Operation
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).
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.
• Use the Fault Reset command to clear the warning, and not the servo ON/OFF or the overtravel signal.
• If the warning is cleared during overtravel status with the Fault Reset command, a warning will not be detected
again until the overtravel status has been cleared.
• The overtravel warning will be detected when the software limit is in effect.
Related Parameter
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
Fault reset
Controlword (6040h)
Enable operation
Switched on
CAUTION
• The overtravel warning function only detects warnings. It has no 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 program-
ming 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 controller.
• 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.
Parameter (Index Number)
Meaning
When Enabled Classification
Pn00D
(200Dh)
n.0
[Factory setting]
Does not detect overtravel warning.
Immediately
Setup
n.1
Detects overtravel warning.
