4.3 Basic Functions Settings
4-7
4
Op
er
at
io
n
(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 two servomotor stopping methods when an overtravel is used.
• 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. Coast status is maintained after the ser-
vomotor coasts to a stop.
• For details on servomotor stopping methods after the SV_OFF command is received or an alarm occurs,
refer to
4.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence
.
When Servomotor Stopping Method is Set to Decelerate to Stop
Emergency stop torque can be set with Pn406.
• The setting unit is a percentage of the rated torque.
• The factory setting is 800% so that the setting is large enough a value to operate the servomotor at maximum
torque. The maximum value of emergency stop torque that is actually available, however, is limited to the
maximum torque of the servomotor.
Parameter
Meaning
When
Enabled
Classification
Pn50A
n.1
[Factory setting]
Inputs the Forward Run Prohibited (P-OT) signal from
CN1-3.
After restart
Setup
n.8
Disables the Forward Run Prohibited (P-OT) signal.
Allows constant forward rotation.
Pn50B
n.
2
[Factory setting]
Inputs the Reverse Run Prohibited (N-OT) signal from
CN1-8.
n.
8
Disables the Reverse Run Prohibited (N-OT) signal.
Allows constant reverse rotation.
Parameter
Stop Method
Mode After
Stopping
When Enabled Classification
Pn001
n.
02
[Factory setting]
Coast
Coast
After restart
Setup
n.
1
Deceleration to a stop
Zero clamp
n.
2
Coast
Pn406
Emergency Stop Torque
Classification
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 800
1%
800
Immediately
Setup
Speed
Position
Torque
