NSK EDD Megatorque Motor - Hardware over Travel Limit: OTP and OTM

7. Operational Function
— 7-3 —
7.1.3. Hardware Over Travel Limit: OTP and OTM
 An input signal of over travel limit sensor to stops the Motor.
 This is provided to set the off-limits area within the Motor rotation range.
Table 7-5: Signal logic of the inputs OTP and OTM (Shipping set: normally closed)
Logic
Description
OFF
Travel limit
ON
Normal
 Shipping set of inputs OTP and OTM is normally closed contact. However it can be changed to
the normally open contact. Refer to “8.1.3.1. Editing Control Input Function” for details.
 Set the OTP for the limit in the CW direction and the OTM for the limit in the CCW direction, looking
from the Motor output axis side as shown in the figure below.
 These directions are not affected by the parameter DI.
Fig 7-3: Setting of the hardware over travel limit
 The System recognized the alarm state of the hardware over travel when it detects input of OTP or OTM.
The Motor stops immediately without servo-off when the limit in the same direction of its rotation is
detected. In this state, the System only accepts the positioning command moving in the opposite direction
of the detected limit.
 Output OTPA or OTMA (Travel limit detection) opens in the alarm state of hardware over travel.
 Refer to “7.2.3. Over Travel Limit Direction: OTPA and OTMA” for the signal timing of inputs
OTP and OTM.
Table 7-6: Alarm state of the hardware travel limit
7segments LED
Command TA: tell alarm
Description
Motor condition
F3
F3>Hardware Over Travel
Hardware over travel alarm
Servo-lock
 When the Motor moves into the off-limits area once, the over travel state is maintained until the following
command is provided.
 Move the Motor in the opposite direction of the detected limit to get out from the off-limits area.
 Deactivate the Motor servo and manually move the Motor out of the off-limits area.
 There are following operation commands to get out from the off-limits area.
 Input one of the short cut commands AD, AR or AQ. The Motor moves in the direction to get
out from the off-limits area (opposite to the entered direction) without fail.
 Perform an operation to get out from the off-limits area judging from the Motor entering
direction, plus or minus, by the input of OTPA and OTMA, and move the Motor out of the area.