4 Feed Axis Operation
4.8.1 Using the SERVOPACK Overtravel Function
4-38
Note 1. The motor cannot decelerate to a stop during torque control. The servomotor stops by dynamic braking or coast-
ing to a stop, depending on the setting of Pn001.0, and then enters the coasting state.
Refer to
8.2.4 Stopping Servomotor after SV_OFF Command or Alarm Occurrence
in the
Σ
-V-SD Series User’s
Manual
(Manual No.: SIEP S800000 78) for details on the stop methods that are used when the servo is OFF or
an alarm occurs.
2. Coasting to a stop is always performed regardless of the set value of Pn001 if a spindle motor is used.
Decelerating to a Stop
You can set the emergency stop torque in parameter Pn406. Set the emergency stop torque based on the axis
load configuration.
∗
If a spindle motor is used, a stop will be performed using the torque values that are set for Pn430 and Pn431.
• The setting unit is a percentage of the rated torque.
• The factory setting is 800%. This value is large enough to ensure that the servomotor always operates at the
maximum torque possible.
However, the actual effective maximum value of the emergency stop torque is limited by the maximum
torque of the servomotor.
(4) Confirming the Overtravel Status
An alarm does not occur when overtravel occurs. Therefore, you must use one of the following methods to
monitor for overtravel.
• Constantly monitor for SVCMD_IO.P-OT (bit 2) and SVCMD_IO.N-OT (bit 3) to change from 0 to 1.
• If Pn00D.3 is set to 1, an Overtravel Warning (A.9A0) will occur if overtravel is detected. You can see if a
warning has occurred by checking if CMD_STAT.D_WAR (bit 1) changes from 0 to 1.
Refer to
8.2.2 (4) Overtravel Warning Function
in the
Σ
-V-SD Series User’s Manual
(Manual No.:
SIEP S800000 78) for details on the overtravel warning function.
(5) Handling Overtravel
When an axis enters the overtravel state, the axis will decelerate to a stop and enter the zero clamp state. At the
host controller, the position reference for the INTERPOLATE (34 hex) command stops being updated and the
axis stops moving.
(6) Clearing the Overtravel Status
To clear the overtravel status of an axis, you must move the axis back in the opposite direction from which the
overtravel occurred.
Perform this return operation for each axis individually. Send the INTERPOLATE (34 hex) command to move
the axis for the return operation with the current reference position (CPOS) as the current stop position.
When this return operation is performed and the overtravel status is cleared (i.e., when SVCMD_IO.P-OT is 0
or SVCMD_IO.N-OT is 0), execution of the return operation has been completed.
Parameter
Motor Stop Method
Status after Motor
Stops
When Enabled
Classification
Pn001
n.
00
DB
Coasting
After restart
Setup
n.
01
n.
02
Coasting
n.
1
Deceleration
Zero clamp
n.
2
Coasting
Pn406
*
Emergency Stop Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
Classification
0 to 800%
1%
800%
Immediately
Setup