— 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” 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.
Figure 7-3: Setting of the hardware over travel limit
CW direction
To the input
OTP
To the input
OTM
Motor output axis
Of
-limits area
CCW direction
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: 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.
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